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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwayAppleTask/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/ThrowAwaySnacksTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..35d4e22798c4efecd5bafcd62cea29f6d6e2bb46
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env0.json
@@ -0,0 +1 @@
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248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 807, "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": 808, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 808, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 809, "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": 811, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 811, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 812, "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": 814, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 814, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 815, "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": 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": 822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 826, "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": 835, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 835, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 845, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 846, "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": 847, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 851, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 851, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 852, "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": 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=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": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 858, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 862, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 872, "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": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "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": 888, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 891, "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": 897, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 900, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 900, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 900, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 902, "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": 905, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 905, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 939, "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": 940, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 940, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 942, "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": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 982, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 995, "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": 1002, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1009, "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": 1022, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1022, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1065, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1065, "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": 1111, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1111, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1113, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1480, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1482, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1493, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1538, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1601, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.0}, {"step": 1603, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 1606, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35852697f46097674f8b4574403555721bfc885
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 1, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 99, "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": 210, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 210, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.0}, {"step": 210, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 211, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.0}, {"step": 213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 230, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.0}, {"step": 242, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 247, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "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": 257, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 270, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'plasticpail_a02'", "score": 0.0}, {"step": 279, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'plasticpail_a02' displaced 0.883m", "score": 0.0}, {"step": 326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 495, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.0}, {"step": 506, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.0}, {"step": 1045, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1079, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 1081, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.0}, {"step": 1083, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 1083, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1088, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.0}, {"step": 1092, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 1096, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.0}, {"step": 1448, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 1448, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1453, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.0}, {"step": 1584, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1587, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1594, "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/ThrowAwaySnacksTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7c03e3b0edc7bfffe17d65f212727b41c410b33
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 2, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 40, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 431, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 435, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 436, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 436, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 498, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 571, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 571, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 576, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 677, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 719, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.0}, {"step": 719, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 770, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 770, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 783, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 783, "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: 'plasticpail_a02'", "score": 0.0}, {"step": 800, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 801, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.0}, {"step": 802, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 804, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.0}, {"step": 966, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'smartphone'", "score": 0.0}, {"step": 978, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'smartphone' nudged 0.060m", "score": 0.0}, {"step": 1136, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1154, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1160, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1308, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1323, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1354, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1356, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'smartphone' nudged 0.119m", "score": 0.0}, {"step": 1424, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1442, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1545, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c44be1f2a52ed7f24f4a47d7a1527862c5e1023
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 3, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 101, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 142, "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": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 192, "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": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 235, "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": 259, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 286, "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": 287, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 287, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 288, "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": 313, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 314, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 314, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 414, "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": 456, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 527, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 633, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.0}, {"step": 633, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 658, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 658, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 660, "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": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'plasticpail_a02'", "score": 0.0}, {"step": 703, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'plasticpail_a02' displaced 0.855m", "score": 0.0}, {"step": 720, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'plasticpail_a02' nudged 0.075m", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1029, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1082, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1272, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 1351, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1351, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 1483, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 1487, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1487, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 1504, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1664, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 1687, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1687, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 1693, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1767, "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": 1769, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1769, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1770, "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": 1771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=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/ThrowAwaySnacksTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca2acedac3717eb0a4d8ddbc3932acf34cb0a710
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 4, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 77, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 112, "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": 123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 123, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 124, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 127, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 140, "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": 217, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 217, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 243, "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": 268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=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": 437, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 527, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 527, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 661, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=yogurt_cup, container=plasticpail_a02, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for yogurt_cup. All conditions satisfied for yogurt_cup.", "score": 0.5}, {"step": 808, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 908, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1172, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1260, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'glasses' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.5}, {"step": 1260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1260, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'glasses'", "score": 0.5}, {"step": 1276, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.122m", "score": 0.5}, {"step": 1306, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'glasses'", "score": 0.5}, {"step": 1310, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.144m", "score": 0.5}, {"step": 1412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1449, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1533, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'glasses' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.5}, {"step": 1533, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1583, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.112m", "score": 0.5}, {"step": 1591, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'glasses'", "score": 0.5}, {"step": 1595, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.071m", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c12b10208e5a61ee208b42198f43b821cb6b2ea
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 5, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 98, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 121, "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": 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=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 241, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 266, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 267, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 390, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.0}, {"step": 390, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 416, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 416, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 421, "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": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 431, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 443, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'plasticpail_a02'", "score": 0.0}, {"step": 469, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'plasticpail_a02' displaced 0.888m", "score": 0.0}, {"step": 535, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 535, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 538, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 595, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.308m", "score": 0.0}, {"step": 672, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 679, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.054m", "score": 0.0}, {"step": 762, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.107m", "score": 0.0}, {"step": 926, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'glasses'", "score": 0.0}, {"step": 934, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.094m", "score": 0.0}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 948, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.100m", "score": 0.0}, {"step": 970, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 970, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 987, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 994, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 994, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 1006, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 1013, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1013, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 1082, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'marker'", "score": 0.0}, {"step": 1319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'marker' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 1319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'marker'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4f32b4db43342a093c94e7626c737abc4b5f91
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 6, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 121, "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": 164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 217, "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": 316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.078m", "score": 0.0}, {"step": 334, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 336, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 336, "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": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 365, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 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=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 682, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 686, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 686, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 723, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 819, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 829, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 829, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 850, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 882, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 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=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 957, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.0}, {"step": 968, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 968, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=yogurt_cup). regressing to step 0 for yogurt_cup.", "score": 0.0}, {"step": 1013, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'remote_control'", "score": 0.0}, {"step": 1029, "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": 1066, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1066, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1071, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1182, "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": 1233, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 1233, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'plasticpail_a02'", "score": 0.0}, {"step": 1233, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 1244, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.0}, {"step": 1257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'plasticpail_a02' (target objects: ['apple_01', 'yogurt_cup'])", "score": 0.0}, {"step": 1283, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'plasticpail_a02'", "score": 0.0}, {"step": 1289, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1289, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1396, "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": 1406, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1406, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1410, "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": 1411, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1411, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1413, "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": 1432, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1432, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 1434, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1482, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'plasticpail_a02'", "score": 0.0}, {"step": 1492, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'plasticpail_a02' displaced 0.787m", "score": 0.0}, {"step": 1587, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 1779, "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": 1781, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1781, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=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/ThrowAwaySnacksTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceec48c304e6b8c65d0acfa0c5fd8f8f6f3eda7d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ThrowAwaySnacksTask", "env_id": 7, "run": 0, "success": false, "final_step": 1800, "events": [{"step": 26, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 41, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 107, "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": 140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 142, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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": 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": 258, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 358, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 394, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 395, "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": 396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 0.0}, {"step": 528, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=apple_01). advanced 1 step(s) to step 1 for apple_01.", "score": 0.0}, {"step": 599, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 599, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=apple_01). regressing to step 0 for apple_01.", "score": 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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env8.json
new file mode 100644
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+++ b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env8.json
@@ -0,0 +1 @@
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/ThrowAwaySnacksTask/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/ToolOrganizationBothTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..147c782c84f3e7c274238c5d35664fb4f136a7eb
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env0.json
@@ -0,0 +1 @@
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"TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 749, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 750, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 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=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 876, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 881, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 883, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 886, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 927, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 927, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 956, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 988, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 988, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 993, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1024, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1024, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1026, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1026, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1077, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1181, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1363, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1394, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1394, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1397, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1453, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1723, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 1752, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 1765, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 1766, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1832, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 1840, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 1841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2150, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.086m", "score": 0.0}, {"step": 2337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.052m", "score": 0.0}, {"step": 2444, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2448, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2453, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2474, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2610, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2650, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.347m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..236542b1d7cc893608dc393f950b4d9dd3c32672
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 1, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 193, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 193, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 201, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 398, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 477, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 517, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 531, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 531, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 531, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 607, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 614, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 614, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 614, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 697, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 697, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 697, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 772, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 796, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 807, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 809, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 830, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 830, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 918, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 928, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 947, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1025, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1026, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1123, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1123, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 1325, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1328, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1331, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1416, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1435, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1435, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1496, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1521, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1537, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1537, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1614, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 1621, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1639, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1639, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1641, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1652, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1652, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1740, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1751, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 1755, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 1867, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1880, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1975, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1996, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2038, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2234, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2339, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2370, "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}, {"step": 2455, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2552, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2627, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spring_clamp'", "score": 0.5}, {"step": 2628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.5}, {"step": 2629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2631, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2644, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2675, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.5}, {"step": 2675, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.413m", "score": 0.5}, {"step": 2676, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2677, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.5}, {"step": 2678, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2685, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.5}, {"step": 2693, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.100m", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1675ef9c00bf9c0a869041743206d0095ca81a3c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 79, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 94, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 178, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 178, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 178, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 269, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 436, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 470, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 473, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 516, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 520, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 520, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 523, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 557, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 557, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 557, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 661, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.054m", "score": 0.0}, {"step": 691, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 692, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 692, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 751, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 796, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 809, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 810, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 810, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 900, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 981, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1176, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1178, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1209, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1239, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1279, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1287, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1427, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1453, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1852, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1862, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1912, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2046, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2244, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2383, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2401, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2408, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2408, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2469, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2476, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2490, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2490, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2700, "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/ToolOrganizationBothTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b69ccf4ab44115dceefaffdb69061065545f23
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 70, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 150, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 179, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 180, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 180, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 226, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 279, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 279, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 335, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 354, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 354, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 360, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 366, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 376, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 389, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 438, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 496, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 496, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 586, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 629, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 660, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 660, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 663, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 678, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 678, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 683, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 684, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 684, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 688, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 747, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 752, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 753, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 753, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 835, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 877, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 880, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.055m", "score": 0.5}, {"step": 884, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 884, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 897, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 899, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 900, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 901, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 901, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 902, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 903, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.084m", "score": 0.5}, {"step": 903, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 903, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 904, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 928, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 928, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 944, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 970, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 995, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 999, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1039, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1039, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1040, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1184, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 1184, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.5}, {"step": 1197, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.5}, {"step": 1197, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1249, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1252, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1252, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1254, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1263, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1264, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1264, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1282, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1282, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1326, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1327, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1327, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1459, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1503, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1544, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1605, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1666, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1724, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spring_clamp'", "score": 0.5}, {"step": 1737, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1743, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 1827, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1827, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 1831, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1831, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2093, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2116, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2116, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2124, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2164, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2164, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2166, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2553, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}, {"step": 2584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.5}, {"step": 2627, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b91cf0098208013549490fb8b79a5d8dd52c2e5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 102, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 140, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 154, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.190m", "score": 0.0}, {"step": 253, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 253, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 264, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 265, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 265, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 267, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 269, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.058m", "score": 0.0}, {"step": 345, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 557, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 635, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 644, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.113m", "score": 0.0}, {"step": 654, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 749, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 749, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spring_clamp'", "score": 0.0}, {"step": 755, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 772, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.131m", "score": 0.0}, {"step": 774, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 776, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 785, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.123m", "score": 0.0}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 879, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 990, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.260m", "score": 0.0}, {"step": 1036, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 1043, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.182m", "score": 0.0}, {"step": 1067, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1559, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1617, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1641, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1665, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1671, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1752, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1771, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1771, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1776, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1822, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1840, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1840, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1888, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1891, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1891, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1923, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1923, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1924, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1924, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1925, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1925, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1992, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1993, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1993, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1994, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1995, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1995, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2002, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2007, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2007, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2068, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2069, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2084, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2084, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2099, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2101, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2101, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2104, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2112, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 2112, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2113, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2143, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2159, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2159, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2160, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2236, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2266, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2266, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=red_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for red_hammer. All conditions satisfied for red_hammer.", "score": 0.5}, {"step": 2315, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2554, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2554, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.5}, {"step": 2566, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2566, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.5}, {"step": 2642, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2651, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2665, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.5}, {"step": 2667, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2671, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab92a7e9bebdf98ed583d1f5c6884abaab6e1a14
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 73, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 117, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 125, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 173, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 202, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 202, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 202, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 290, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 300, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 311, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 319, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 319, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 319, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 325, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 331, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 345, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 347, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 347, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 347, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 357, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 361, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 361, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 362, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 364, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 364, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 371, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 371, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 376, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 409, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 409, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 409, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 437, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 464, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 466, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 480, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 485, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 495, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 495, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 519, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 661, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 661, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 810, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spring_clamp'", "score": 0.0}, {"step": 841, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 985, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 985, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1051, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1148, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1148, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1171, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1171, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1194, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1246, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1246, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1537, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2271, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2337, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2444, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2466, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2474, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2474, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2474, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2476, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2486, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2510, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2523, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.0}, {"step": 2533, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.201m", "score": 0.0}, {"step": 2699, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..de886dc5dd6deb7da85244ce4a44218073946d62
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 6, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 72, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 87, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 92, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 100, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 118, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 177, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 191, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 312, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 333, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 334, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 334, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 334, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 372, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 464, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 558, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 562, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 577, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 577, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 577, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 689, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 689, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 744, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 821, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 822, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 822, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 840, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 842, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 873, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 879, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 917, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 917, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 917, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 935, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1005, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1017, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1017, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1017, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1021, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1021, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1088, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1097, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1097, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1097, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1160, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1184, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1196, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1197, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1197, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1255, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1272, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1276, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1284, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1284, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1284, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1340, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1343, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1349, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1382, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1402, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1405, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1411, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1430, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1447, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1486, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1550, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1615, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1631, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1637, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1653, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1668, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1679, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1706, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1755, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1782, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1789, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1790, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1790, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1855, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1871, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1877, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1877, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1985, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1985, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1986, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1986, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1987, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1987, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1997, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2042, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2074, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2102, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2108, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2114, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2133, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2142, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2145, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2172, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2203, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2204, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2204, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2277, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2283, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2283, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2283, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2284, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2285, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2285, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2349, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2378, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2385, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2385, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2386, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2474, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2476, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2476, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2479, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2479, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2582, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2602, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2612, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2625, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2671, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2684, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2685, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 2685, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..a54356c6f1d8562af684843c6359a5bb867c4cc0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 7, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 175, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 219, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 219, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 315, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 396, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 419, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 419, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 419, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 905, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 931, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1082, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1090, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1090, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1090, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1126, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1205, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1205, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1205, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1290, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1301, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1365, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1390, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1390, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1390, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1453, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1453, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1456, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1456, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1458, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1472, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1473, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1473, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1476, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1478, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1480, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1480, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1481, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1486, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1486, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1508, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1509, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1509, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1665, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1668, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1688, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1688, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1784, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1787, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1787, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1788, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1837, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1837, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1837, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1847, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1940, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1969, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1969, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1970, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1970, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1971, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1971, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2083, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2118, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2120, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2120, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 2551, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2551, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 2610, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd86515eed7e27a5d07396cf1d62d3af4118272
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 8, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 160, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 160, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 302, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 302, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 302, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 497, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 532, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 576, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 655, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 664, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 667, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 667, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 675, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 676, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 676, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 733, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 931, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 946, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 946, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1094, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1129, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1200, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1247, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1321, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1367, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1369, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1372, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1372, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1375, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1375, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1382, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1387, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1391, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1391, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1407, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1410, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1410, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1411, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1412, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1412, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1413, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1413, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1419, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1424, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1424, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1430, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1430, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1440, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1471, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1471, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1507, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1529, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1560, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1560, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1561, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1563, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1563, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1627, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1786, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1816, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1906, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1910, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1911, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1911, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1967, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1984, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2001, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2011, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2011, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2078, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2087, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2087, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2092, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2157, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2195, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2195, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2280, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2328, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2328, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2329, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2443, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2506, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.055m", "score": 0.0}, {"step": 2506, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2506, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2587, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 2593, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 2593, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 2614, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 2654, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.0}, {"step": 2670, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2671, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2683, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2687, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2688, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.0}, {"step": 2691, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.0}, {"step": 2692, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 2698, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.069m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ad861bb20a99c3245fc6e481ec479af69886c8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToolOrganizationBothTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToolOrganizationBothTask", "env_id": 9, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 89, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 89, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 89, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 179, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 225, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 225, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 225, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 316, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.113m", "score": 0.0}, {"step": 323, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'cordless_drill' nudged 0.081m", "score": 0.0}, {"step": 332, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 362, "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": 432, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 439, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 440, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 440, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 495, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 540, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 545, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 717, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 722, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 722, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 778, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 782, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 782, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 782, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 844, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 871, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 881, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 882, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 926, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 940, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 948, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1003, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1020, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1028, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1029, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1029, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1080, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1095, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1096, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1096, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1199, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=red_hammer). advanced 1 step(s) to step 1 for red_hammer.", "score": 0.0}, {"step": 1213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1295, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1295, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=red_hammer). regressing to step 0 for red_hammer.", "score": 0.0}, {"step": 1425, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1455, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1524, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1553, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1553, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1554, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1565, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1565, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1565, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1566, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1570, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1570, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1676, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1679, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1679, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1715, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'left_bin'", "score": 0.0}, {"step": 1726, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1741, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1741, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1781, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1784, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1784, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1785, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1801, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1801, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=husky_hammer). regressing to step 0 for husky_hammer.", "score": 0.0}, {"step": 1898, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1914, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=husky_hammer). advanced 1 step(s) to step 1 for husky_hammer.", "score": 0.0}, {"step": 1995, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1995, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=husky_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for husky_hammer. All conditions satisfied for husky_hammer.", "score": 0.5}, {"step": 2110, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2128, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'spring_clamp' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2132, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'spring_clamp'", "score": 0.5}, {"step": 2174, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.129m", "score": 0.5}, {"step": 2188, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.130m", "score": 0.5}, {"step": 2208, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'spring_clamp'", "score": 0.5}, {"step": 2214, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spring_clamp' nudged 0.082m", "score": 0.5}, {"step": 2254, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 2340, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 2353, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2353, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'cordless_drill'", "score": 0.5}, {"step": 2356, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.5}, {"step": 2357, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'cordless_drill' (target objects: ['red_hammer', 'husky_hammer'])", "score": 0.5}, {"step": 2362, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'cordless_drill'", "score": 0.5}, {"step": 2363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}]}
\ 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/ToyInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4652ab95f692ad959b5b3559b922ef08656fec
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 185, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 194, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 199, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 200, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 206, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 206, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 616, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 635, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 636, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 825, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 834, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 863, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 872, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 874, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 888, "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/ToyInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..137d20ae1b90dfd8b4e024d2d9c38ae0a2b7a04b
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 161, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 203, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 482, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 512, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 632, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 799, "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/ToyInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af7b9f654f51ca6abd3555d29a46d3336cf7c58
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 182, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ceramic_mug' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 182, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 182, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ceramic_mug'", "score": 0.0}, {"step": 234, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.311m", "score": 0.0}, {"step": 250, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ceramic_mug'", "score": 0.0}, {"step": 252, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ceramic_mug' nudged 0.120m", "score": 0.0}, {"step": 394, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: 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object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 482, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 482, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 613, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 634, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 634, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 635, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 638, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 641, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 641, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 749, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 755, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 755, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 756, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 756, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 765, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 794, "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/ToyInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eee464d051332781b39f9c900c0e9c49d1eab86
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 173, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.058m", "score": 0.0}, {"step": 288, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d200e06e1e60462a37fa66e2cb2018302cebde
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 53, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 88, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 344, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 859, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 861, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 862, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 866, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 870, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..909839593c0fa64ec09ce8da4a8620042c9e7884
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 35, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 249, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wooden_bowl'", "score": 0.0}, {"step": 340, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.051m", "score": 0.0}, {"step": 340, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.052m", "score": 0.0}, {"step": 353, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'wooden_bowl' nudged 0.082m", "score": 0.0}, {"step": 354, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'spoon_big' nudged 0.086m", "score": 0.0}, {"step": 802, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'ceramic_mug'", "score": 0.0}, {"step": 812, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ceramic_mug' displaced 0.666m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf9e33c8d828dd11bb1a94df89246087e0f9467
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 288, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'granola_bars'", "score": 0.0}, {"step": 449, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 450, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 480, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 482, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 483, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 484, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 486, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'granola_bars' (target objects: ['lizard_figurine'])", "score": 0.0}, {"step": 492, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'granola_bars'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ebfa62d3306377c83022929c601932f49e5b5f4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 7, "run": 0, "success": true, "final_step": 675, "events": [{"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 212, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 253, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 322, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 333, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 335, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 335, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 366, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 517, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 519, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 519, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 584, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 602, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 602, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 604, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 675, "code": 125, "name": "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/ToyInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..de42313f57f61a2971eb12449fef418dc7d55199
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 8, "run": 0, "success": true, "final_step": 307, "events": [{"step": 61, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 72, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 72, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 72, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 137, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 154, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 247, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 301, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 301, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 302, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 307, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 1.0}, {"step": 307, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 307, "code": 125, "name": "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/ToyInBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea9357126789cfdec8261890edfb6100c9b6f7b8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/ToyInBinTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ToyInBinTask", "env_id": 9, "run": 0, "success": false, "final_step": 900, "events": [{"step": 60, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 61, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 61, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 122, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'glasses' nudged 0.059m", "score": 0.0}, {"step": 198, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 227, "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=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 237, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 418, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 425, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 425, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 426, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 427, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 427, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 428, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 429, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 429, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 534, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 541, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 541, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 542, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 543, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 543, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 544, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=lizard_figurine). advanced 1 step(s) to step 1 for lizard_figurine.", "score": 0.0}, {"step": 545, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 545, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=lizard_figurine). regressing to step 0 for lizard_figurine.", "score": 0.0}, {"step": 547, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: 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\ No newline at end of file
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"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.*"], 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["color", "conjunction", "simple"], "_task_name": "YellowAndWhiteObjectsInBinTask", "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 all white objects and yellow objects in the grey bin", "contact_object_list": ["mug", "banana", "grey_bin", "table", "bowl", "ketchup_bottle", "rubiks_cube_top", "rubiks_cube_middle", "rubiks_cube_bottom"], "_instruction_variants": {"default": "Put all white objects and yellow objects in the grey bin", "vague": "Clean up white and yellow objects", "specific": "Identify the white-colored and yellow-colored object on the table and place each one into the grey bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc996dc8f77811bb68e49ca076365fa6084c0057
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 120, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 120, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 135, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 141, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.191m", "score": 0.0}, {"step": 208, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.156m", "score": 0.0}, {"step": 230, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 236, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 286, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.061m", "score": 0.0}, {"step": 327, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 343, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 346, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 373, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 482, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 560, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.152m", "score": 0.0}, {"step": 665, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 706, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 713, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.344m", "score": 0.0}, {"step": 812, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 812, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 899, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 899, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1a2b23924ab233939514613c2d6bcca76d2235e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 151, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 170, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 170, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 196, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 198, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 206, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.344m", "score": 0.0}, {"step": 208, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.156m", "score": 0.0}, {"step": 297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 297, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 297, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 299, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 304, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.052m", "score": 0.0}, {"step": 423, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 436, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 441, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 446, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.077m", "score": 0.0}, {"step": 513, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 541, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 546, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.215m", "score": 0.0}, {"step": 875, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.068m", "score": 0.0}, {"step": 900, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df698cd5008f06f11e006207d9141dfd5ef13a2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 41, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.165m", "score": 0.0}, {"step": 204, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 275, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 343, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 499, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 554, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 555, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 555, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 557, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..58aee42192c6554829957ac8816e86c0e99f43a9
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 71, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 143, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 157, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 160, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 167, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.082m", "score": 0.0}, {"step": 270, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 278, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.157m", "score": 0.0}, {"step": 323, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 334, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 345, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 347, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 417, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 429, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 434, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.070m", "score": 0.0}, {"step": 491, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 494, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 526, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 529, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.185m", "score": 0.0}, {"step": 605, "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": 606, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 690, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 690, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 810, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 810, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.5}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.5}, {"step": 849, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.181m", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4911501310b2e1baea6ecb48af8673e55e8dfd
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 68, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 68, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 69, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 70, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 71, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 75, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 80, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.198m", "score": 0.0}, {"step": 138, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 146, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 152, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 153, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 213, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 250, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.156m", "score": 0.0}, {"step": 398, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 403, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 425, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.168m", "score": 0.0}, {"step": 519, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 547, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 550, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.141m", "score": 0.0}, {"step": 650, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 650, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 686, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.209m", "score": 0.0}, {"step": 689, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 690, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 694, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.141m", "score": 0.0}, {"step": 710, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 757, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 790, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.248m", "score": 0.0}, {"step": 807, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 808, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 817, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.126m", "score": 0.0}, {"step": 819, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.220m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..c422f9eda3245ce296a32751c4d0ee23b78d2479
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 68, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 71, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 94, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.233m", "score": 0.0}, {"step": 145, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 145, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 168, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 177, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.228m", "score": 0.0}, {"step": 295, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 295, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 327, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 336, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.353m", "score": 0.0}, {"step": 435, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 455, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 461, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 463, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 472, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.269m", "score": 0.0}, {"step": 659, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 686, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 690, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.157m", "score": 0.0}, {"step": 776, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 796, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 807, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.165m", "score": 0.0}, {"step": 818, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.072m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..f973718b06f09d046f0226a5c15bb25153b15c6f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 67, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 67, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=mug). advanced 1 step(s) to step 1 for mug.", "score": 0.0}, {"step": 210, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 210, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 275, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.5}, {"step": 278, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 301, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.5}, {"step": 307, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.303m", "score": 0.5}, {"step": 376, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 376, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.5}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.5}, {"step": 405, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.222m", "score": 0.5}, {"step": 466, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.5}, {"step": 470, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 497, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.5}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.236m", "score": 0.5}, {"step": 572, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.5}, {"step": 585, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.5}, {"step": 629, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.399m", "score": 0.5}, {"step": 641, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a81acfbed6c4435f59e40898ac016751a3d9d99
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 47, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.080m", "score": 0.0}, {"step": 65, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 72, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.060m", "score": 0.0}, {"step": 75, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.137m", "score": 0.0}, {"step": 96, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.175m", "score": 0.0}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 216, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 262, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.179m", "score": 0.0}, {"step": 343, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 409, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.175m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8842df7078371f874f2aaf90bce954c9e2e4aaf
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 900, "events": [{"step": 72, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 82, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.197m", "score": 0.0}, {"step": 131, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 132, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 145, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 150, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_middle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_middle'", "score": 0.0}, {"step": 153, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.095m", "score": 0.0}, {"step": 243, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 243, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 255, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 316, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 335, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.071m", "score": 0.0}, {"step": 480, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 489, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 490, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 493, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 497, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 559, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 601, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 607, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.263m", "score": 0.0}, {"step": 658, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 695, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 728, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 732, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.298m", "score": 0.0}, {"step": 738, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.053m", "score": 0.0}, {"step": 847, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 847, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 854, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 893, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 894, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env9.json
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+++ b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/log_0_env9.json
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+{"schema_version": 2, "dt": 0.06666666666666667, "task": "YellowAndWhiteObjectsInBinTask", "env_id": 9, "run": 0, "success": false, "final_step": 900, "events": [{"step": 52, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 52, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 52, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_top'", "score": 0.0}, {"step": 57, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 64, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.303m", "score": 0.0}, {"step": 66, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.098m", "score": 0.0}, {"step": 121, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_middle'", "score": 0.0}, {"step": 168, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_middle' nudged 0.299m", "score": 0.0}, {"step": 224, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 230, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_bottom' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 254, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_bottom'", "score": 0.0}, {"step": 263, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_bottom' nudged 0.132m", "score": 0.0}, {"step": 314, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ketchup_bottle'", "score": 0.0}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 371, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 371, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 382, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.139m", "score": 0.0}, {"step": 424, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 477, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 478, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 478, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.298m", "score": 0.0}, {"step": 479, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 480, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 484, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 486, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ketchup_bottle' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 487, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ketchup_bottle'", "score": 0.0}, {"step": 499, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ketchup_bottle' nudged 0.286m", "score": 0.0}, {"step": 598, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube_top' (target objects: ['mug', 'banana'])", "score": 0.0}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube_top'", "score": 0.0}, {"step": 633, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube_top' nudged 0.263m", "score": 0.0}, {"step": 710, "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": 712, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 795, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 795, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=mug, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for mug. All conditions satisfied for mug.", "score": 0.5}, {"step": 800, "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/YellowAndWhiteObjectsInBinTask/run_0.hdf5 b/pi0.5/2026-09-29_11-22-13_pi05/YellowAndWhiteObjectsInBinTask/run_0.hdf5
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diff --git a/pi0.5/2026-09-29_11-22-13_pi05/episode_results.jsonl b/pi0.5/2026-09-29_11-22-13_pi05/episode_results.jsonl
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+{"env_name": "CleanUpToysTask", "task_name": "CleanUpToysTask", "run_name": "CleanUpToysTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Clean up all the smaller toys and leave the birdhouse on the table", "attributes": ["sorting", "semantics", "complex"], "success": false, "episode_step": 4500, "duration": 300.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -13.246233639012793, "joint_sparc_mean": -18.30347852385537, "ee_isj": 4205.85336020696, "joint_isj": 278103.802707294, "ee_path_length": 16.777085761441413, "joint_rmse_mean": 0.020385873358195254, "ee_speed_max": 0.2580329179763794, "ee_speed_mean": 0.05284920334815979}, "events": {"TARGET_OBJECT_DROPPED": 57, "GRIPPER_FULLY_CLOSED": 3, "GRIPPER_HIT_TABLE": 10, "MULTIPLE_OBJECTS_GRABBED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 830.818, "policy_inference_avg_ms": 184.6, "env_step_s": 3003.142, "env_step_avg_ms": 667.4, "video_write_s": 334.044, "video_write_avg_ms": 74.2, "wall_total_s": 4168.004, "it_per_sec": 1.08}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=rubiks_cube) (step 1/2); object_grabbed(object=rubiks_cube_1) (step 1/2); object_grabbed(object=rubiks_cube_2) (step 1/2); object_grabbed(object=lizard_figurine) (step 1/2); object_grabbed(object=yellow_block) (step 1/2); object_grabbed(object=red_block) (step 1/2); object_grabbed(object=green_block) (step 1/2); object_grabbed(object=blue_block) (step 1/2); object_grabbed(object=lizard_figurine_01) (step 1/2)"}
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+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -12.240770473892429, "joint_sparc_mean": -18.582339163709275, "ee_isj": 4854.916200586416, "joint_isj": 385557.48033131845, "ee_path_length": 12.36672029981904, "joint_rmse_mean": 0.03734951243393137, "ee_speed_max": 0.4466792643070221, "ee_speed_mean": 0.07050127536058426}, "events": {"GRIPPER_FULLY_CLOSED": 5, "TARGET_OBJECT_DROPPED": 11, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["wireshelving_a01", "wireshelving_a01", "wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 453.566, "policy_inference_avg_ms": 168.0, "env_step_s": 1397.068, "env_step_avg_ms": 517.4, "video_write_s": 188.574, "video_write_avg_ms": 69.8, "wall_total_s": 2039.207, "it_per_sec": 1.32}, "score": 0.5, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.54919861148624, "joint_sparc_mean": -17.529452007229743, "ee_isj": 1666.3187826249466, "joint_isj": 59978.160832980124, "ee_path_length": 7.792892296381763, "joint_rmse_mean": 0.019190316913653173, "ee_speed_max": 0.34314820170402527, "ee_speed_mean": 0.04450536519289017}, "events": {"GRIPPER_FULLY_CLOSED": 11, "TARGET_OBJECT_DROPPED": 4, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_OUT_OF_SCENE": 2, "OBJECT_BUMPED": 1, "OBJECT_MOVED": 2, "wrong_objects_grabbed": ["wireshelving_a01", "wireshelving_a01", "wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 453.566, "policy_inference_avg_ms": 168.0, "env_step_s": 1397.068, "env_step_avg_ms": 517.4, "video_write_s": 188.574, "video_write_avg_ms": 69.8, "wall_total_s": 2039.207, "it_per_sec": 1.32}, "score": 0.5, "reason": "Only 1/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.548325348933624, "joint_sparc_mean": -12.691619870090989, "ee_isj": 4050.732043409326, "joint_isj": 332344.87000267336, "ee_path_length": 11.477852934512917, "joint_rmse_mean": 0.035858717648709924, "ee_speed_max": 0.4761192798614502, "ee_speed_mean": 0.06530238687992096}, "events": {"GRIPPER_FULLY_CLOSED": 14, "TARGET_OBJECT_DROPPED": 19, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "OBJECT_OUT_OF_SCENE": 2, "OBJECT_MOVED": 3, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 453.566, "policy_inference_avg_ms": 168.0, "env_step_s": 1397.068, "env_step_avg_ms": 517.4, "video_write_s": 188.574, "video_write_avg_ms": 69.8, "wall_total_s": 2039.207, "it_per_sec": 1.32}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.789863937450047, "joint_sparc_mean": -20.688313325139728, "ee_isj": 4126.374426552536, "joint_isj": 252289.822053145, "ee_path_length": 6.8888513864633385, "joint_rmse_mean": 0.024301606153269272, "ee_speed_max": 0.41841787099838257, "ee_speed_mean": 0.051668982952833176}, "events": {"GRIPPER_FULLY_CLOSED": 6, "TARGET_OBJECT_DROPPED": 9, "WRONG_OBJECT_GRABBED": 3, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["wireshelving_a01", "wireshelving_a01", "wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 453.566, "policy_inference_avg_ms": 168.0, "env_step_s": 1397.068, "env_step_avg_ms": 517.4, "video_write_s": 188.574, "video_write_avg_ms": 69.8, "wall_total_s": 2039.207, "it_per_sec": 1.32}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -15.022369158471735, "joint_sparc_mean": -26.08712243234121, "ee_isj": 1045.0767189897051, "joint_isj": 74870.83807773404, "ee_path_length": 6.027176372872644, "joint_rmse_mean": 0.017168885665155516, "ee_speed_max": 0.24765804409980774, "ee_speed_mean": 0.03299599140882492}, "events": {"TARGET_OBJECT_DROPPED": 2, "GRIPPER_FULLY_CLOSED": 16, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 453.566, "policy_inference_avg_ms": 168.0, "env_step_s": 1397.068, "env_step_avg_ms": 517.4, "video_write_s": 188.574, "video_write_avg_ms": 69.8, "wall_total_s": 2039.207, "it_per_sec": 1.32}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "PutTwoMugsOnShelfTask", "task_name": "PutTwoMugsOnShelfTask", "run_name": "PutTwoMugsOnShelfTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Put two (2) mugs on the wire shelf", "attributes": ["affordance", "spatial", "counting", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.954832278589376, "joint_sparc_mean": -21.550424724678386, "ee_isj": 4182.824795354501, "joint_isj": 596457.6642206045, "ee_path_length": 8.728830757244165, "joint_rmse_mean": 0.03520144849357698, "ee_speed_max": 0.4874899387359619, "ee_speed_mean": 0.05487818270921707}, "events": {"GRIPPER_FULLY_CLOSED": 6, "WRONG_OBJECT_GRABBED": 4, "GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 27, "wrong_objects_grabbed": ["wireshelving_a01", "wireshelving_a01", "wireshelving_a01", "wireshelving_a01"]}, "instruction_type": "default", "timing": {"policy_inference_s": 453.566, "policy_inference_avg_ms": 168.0, "env_step_s": 1397.068, "env_step_avg_ms": 517.4, "video_write_s": 188.574, "video_write_avg_ms": 69.8, "wall_total_s": 2039.207, "it_per_sec": 1.32}, "score": 0.0, "reason": "Only 0/2 objects completed. Failed: object_grabbed(object=ceramic_mug) (step 1/2)"}
+{"env_name": "ToolOrganizationBothTask", "task_name": "ToolOrganizationBothTask", "run_name": "ToolOrganizationBothTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put hammers in the right bin and do not touch anything else", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.671495370246486, "joint_sparc_mean": -13.595111323527208, "ee_isj": 2229.7387820113886, "joint_isj": 223051.91522440515, "ee_path_length": 9.804415597452179, "joint_rmse_mean": 0.02616518461300258, "ee_speed_max": 0.3193569481372833, "ee_speed_mean": 0.05569286271929741}, "events": {"GRIPPER_HIT_TABLE": 8, "GRIPPER_FULLY_CLOSED": 13, "TARGET_OBJECT_DROPPED": 16, "WRONG_OBJECT_GRABBED": 8, "GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 5, "wrong_objects_grabbed": ["spring_clamp", "spring_clamp", "spring_clamp", "cordless_drill", "cordless_drill", "cordless_drill", "cordless_drill", "cordless_drill"]}, "instruction_type": "default", "timing": {"policy_inference_s": 481.43, "policy_inference_avg_ms": 178.3, "env_step_s": 1081.534, "env_step_avg_ms": 400.6, "video_write_s": 201.094, "video_write_avg_ms": 74.5, "wall_total_s": 1764.059, "it_per_sec": 1.53}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=red_hammer) (step 1/2); object_grabbed(object=husky_hammer) (step 1/2)"}
+{"env_name": "ToolOrganizationBothTask", "task_name": "ToolOrganizationBothTask", "run_name": "ToolOrganizationBothTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put hammers in the right bin and do not touch anything else", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.4731217560575, "joint_sparc_mean": -14.180321793527343, "ee_isj": 2152.092226661608, "joint_isj": 129677.84326422765, "ee_path_length": 10.676983480822848, "joint_rmse_mean": 0.020016270400185603, "ee_speed_max": 0.3522453010082245, "ee_speed_mean": 0.05743963271379471}, "events": {"TARGET_OBJECT_DROPPED": 17, "GRIPPER_FULLY_CLOSED": 27, "GRIPPER_HIT_TABLE": 10, "WRONG_OBJECT_GRABBED": 4, "GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 2, "wrong_objects_grabbed": ["spring_clamp", "spring_clamp", "spring_clamp", "spring_clamp"]}, "instruction_type": "default", "timing": {"policy_inference_s": 481.43, "policy_inference_avg_ms": 178.3, "env_step_s": 1081.534, "env_step_avg_ms": 400.6, "video_write_s": 201.094, "video_write_avg_ms": 74.5, "wall_total_s": 1764.059, "it_per_sec": 1.53}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=husky_hammer) (step 1/2)"}
+{"env_name": "ToolOrganizationBothTask", "task_name": "ToolOrganizationBothTask", "run_name": "ToolOrganizationBothTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put hammers in the right bin and do not touch anything else", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -9.012856584964158, "joint_sparc_mean": -14.80739603246746, "ee_isj": 4518.958318181547, "joint_isj": 542870.3990293614, "ee_path_length": 8.061586431625637, "joint_rmse_mean": 0.027321006440228356, "ee_speed_max": 0.41330036520957947, "ee_speed_mean": 0.05530557781457901}, "events": {"GRIPPER_HIT_TABLE": 13, "GRIPPER_FULLY_CLOSED": 14, "TARGET_OBJECT_DROPPED": 13, "OBJECT_BUMPED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 481.43, "policy_inference_avg_ms": 178.3, "env_step_s": 1081.534, "env_step_avg_ms": 400.6, "video_write_s": 201.094, "video_write_avg_ms": 74.5, "wall_total_s": 1764.059, "it_per_sec": 1.53}, "score": 0.0, "reason": "Conditions not satisfied: object_in_container(object=red_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True) (step 2/2); object_grabbed(object=husky_hammer) (step 1/2)"}
+{"env_name": "ToolOrganizationBothTask", "task_name": "ToolOrganizationBothTask", "run_name": "ToolOrganizationBothTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put hammers in the right bin and do not touch anything else", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.843132475919585, "joint_sparc_mean": -13.920416315621903, "ee_isj": 2802.898610581349, "joint_isj": 144769.90404188161, "ee_path_length": 10.877844057368709, "joint_rmse_mean": 0.023072939462944708, "ee_speed_max": 0.3493053913116455, "ee_speed_mean": 0.058150939643383026}, "events": {"GRIPPER_HIT_TABLE": 6, "GRIPPER_FULLY_CLOSED": 20, "TARGET_OBJECT_DROPPED": 34, "OBJECT_BUMPED": 2, "WRONG_OBJECT_GRABBED": 1, "GRIPPER_HIT_OBJECT": 2, "wrong_objects_grabbed": ["cordless_drill"]}, "instruction_type": "default", "timing": {"policy_inference_s": 481.43, "policy_inference_avg_ms": 178.3, "env_step_s": 1081.534, "env_step_avg_ms": 400.6, "video_write_s": 201.094, "video_write_avg_ms": 74.5, "wall_total_s": 1764.059, "it_per_sec": 1.53}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=red_hammer) (step 1/2)"}
+{"env_name": "ToolOrganizationBothTask", "task_name": "ToolOrganizationBothTask", "run_name": "ToolOrganizationBothTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put hammers in the right bin and do not touch anything else", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -11.093747905501596, "joint_sparc_mean": -16.13192843571112, "ee_isj": 2253.9257938894852, "joint_isj": 80717.7199094744, "ee_path_length": 11.007501732625718, "joint_rmse_mean": 0.020872439361427735, "ee_speed_max": 0.32882973551750183, "ee_speed_mean": 0.05904727056622505}, "events": {"GRIPPER_FULLY_CLOSED": 19, "TARGET_OBJECT_DROPPED": 17, "OBJECT_BUMPED": 7, "WRONG_OBJECT_GRABBED": 8, "GRIPPER_HIT_OBJECT": 2, "GRIPPER_HIT_TABLE": 2, "MULTIPLE_OBJECTS_GRABBED": 1, "wrong_objects_grabbed": ["cordless_drill", "cordless_drill", "cordless_drill", "cordless_drill", "spring_clamp", "spring_clamp", "cordless_drill", "cordless_drill"]}, "instruction_type": "default", "timing": {"policy_inference_s": 481.43, "policy_inference_avg_ms": 178.3, "env_step_s": 1081.534, "env_step_avg_ms": 400.6, "video_write_s": 201.094, "video_write_avg_ms": 74.5, "wall_total_s": 1764.059, "it_per_sec": 1.53}, "score": 0.5, "reason": "Condition not satisfied: object_grabbed(object=husky_hammer) (step 1/2)"}
+{"env_name": "ToolOrganizationBothTask", "task_name": "ToolOrganizationBothTask", "run_name": "ToolOrganizationBothTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put hammers in the right bin and do not touch anything else", "attributes": ["semantics", "spatial", "moderate"], "success": false, "episode_step": 2700, "duration": 180.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.806456253959972, "joint_sparc_mean": -11.254694079882807, "ee_isj": 2498.5227750111358, "joint_isj": 267060.31965147034, "ee_path_length": 7.086212709082281, "joint_rmse_mean": 0.03138115641835542, "ee_speed_max": 0.27558597922325134, "ee_speed_mean": 0.0467902347445488}, "events": {"GRIPPER_HIT_TABLE": 9, "GRIPPER_FULLY_CLOSED": 9, "TARGET_OBJECT_DROPPED": 22, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 3, "OBJECT_BUMPED": 1, "wrong_objects_grabbed": ["spring_clamp", "spring_clamp", "spring_clamp"]}, "instruction_type": "default", "timing": {"policy_inference_s": 481.43, "policy_inference_avg_ms": 178.3, "env_step_s": 1081.534, "env_step_avg_ms": 400.6, "video_write_s": 201.094, "video_write_avg_ms": 74.5, "wall_total_s": 1764.059, "it_per_sec": 1.53}, "score": 0.0, "reason": "Conditions not satisfied: object_grabbed(object=red_hammer) (step 1/2); object_in_container(object=husky_hammer, container=right_bin, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
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+{"env_name": "MouseOnKeyboardTask", "task_name": "MouseOnKeyboardTask", "run_name": "MouseOnKeyboardTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put the computer mouse on the keyboard", "attributes": ["semantics", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.519531395598678, "joint_sparc_mean": -8.371631257470463, "ee_isj": 689.4012181890524, "joint_isj": 15425.56860881433, "ee_path_length": 3.5892472685901096, "joint_rmse_mean": 0.02434559865372099, "ee_speed_max": 0.2828417122364044, "ee_speed_mean": 0.05777730047702789}, "events": {"GRIPPER_FULLY_CLOSED": 7, "GRIPPER_HIT_OBJECT": 2, "OBJECT_BUMPED": 3, "WRONG_OBJECT_GRABBED": 6, "TARGET_OBJECT_DROPPED": 1, "wrong_objects_grabbed": ["lizard_figurine", "lizard_figurine", "lizard_figurine", "lizard_figurine", "keyboard", "keyboard"]}, "instruction_type": "default", "timing": {"policy_inference_s": 115.173, "policy_inference_avg_ms": 128.0, "env_step_s": 723.168, "env_step_avg_ms": 803.5, "video_write_s": 66.302, "video_write_avg_ms": 73.7, "wall_total_s": 904.643, "it_per_sec": 0.99}, "score": 0.0, "reason": "Condition not satisfied: object_in_container(object=computer_mouse, container=keyboard, require_contact_with=False, require_gripper_detached=True) (step 2/2)"}
+{"env_name": "MouseOnKeyboardTask", "task_name": "MouseOnKeyboardTask", "run_name": "MouseOnKeyboardTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Put the computer mouse on the keyboard", "attributes": ["semantics", "simple"], "success": true, "episode_step": 467, "duration": 31.133333333333333, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.605348552819501, "joint_sparc_mean": -6.460170782923048, "ee_isj": 306.4121152563441, "joint_isj": 6733.132971729802, "ee_path_length": 2.070236746527415, "joint_rmse_mean": 0.02117764816605201, "ee_speed_max": 0.21984970569610596, "ee_speed_mean": 0.06288598477840424}, "events": {"GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_OBJECT": 1, "WRONG_OBJECT_GRABBED": 1, "OBJECT_BUMPED": 3, "TARGET_OBJECT_DROPPED": 3, "wrong_objects_grabbed": ["lizard_figurine"]}, "instruction_type": "default", "timing": {"policy_inference_s": 115.173, "policy_inference_avg_ms": 128.0, "env_step_s": 723.168, "env_step_avg_ms": 803.5, "video_write_s": 66.302, "video_write_avg_ms": 73.7, "wall_total_s": 904.643, "it_per_sec": 0.99}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.391168757233291, "joint_sparc_mean": -9.785736598352907, "ee_isj": 1725.5016462980625, "joint_isj": 568279.2159796511, "ee_path_length": 1.973632013549534, "joint_rmse_mean": 0.036058153689211954, "ee_speed_max": 0.20193062722682953, "ee_speed_mean": 0.049459993839263916}, "events": {"GRIPPER_HIT_TABLE": 19, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 4}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 1, "env_id": 1, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.233406190703622, "joint_sparc_mean": -10.082409440721472, "ee_isj": 1409.8483688594104, "joint_isj": 464292.4113021535, "ee_path_length": 2.199650626471831, "joint_rmse_mean": 0.04010407403862391, "ee_speed_max": 0.2203618437051773, "ee_speed_mean": 0.04959266632795334}, "events": {"GRIPPER_HIT_TABLE": 12, "GRIPPER_HIT_OBJECT": 2, "TARGET_OBJECT_DROPPED": 7, "GRIPPER_FULLY_CLOSED": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 2, "env_id": 2, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.240336620062433, "joint_sparc_mean": -11.838511180889446, "ee_isj": 2661.711394122122, "joint_isj": 598340.3776082605, "ee_path_length": 2.2377367595642736, "joint_rmse_mean": 0.04059132783205369, "ee_speed_max": 0.23661786317825317, "ee_speed_mean": 0.057843081653118134}, "events": {"GRIPPER_HIT_TABLE": 26, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 5}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 3, "env_id": 3, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.589231711789019, "joint_sparc_mean": -13.839885188307537, "ee_isj": 2636.772923478212, "joint_isj": 802946.6495637649, "ee_path_length": 2.387032217031223, "joint_rmse_mean": 0.03632013463135519, "ee_speed_max": 0.5845499038696289, "ee_speed_mean": 0.051605962216854095}, "events": {"GRIPPER_HIT_OBJECT": 1, "MULTIPLE_OBJECTS_GRABBED": 1, "TARGET_OBJECT_DROPPED": 6, "GRIPPER_HIT_TABLE": 14}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 4, "env_id": 4, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.0307404684845975, "joint_sparc_mean": -9.577954543631522, "ee_isj": 1876.7436698434017, "joint_isj": 680980.7439148438, "ee_path_length": 1.614635521336337, "joint_rmse_mean": 0.0385089748983024, "ee_speed_max": 0.4472945034503937, "ee_speed_mean": 0.046876322478055954}, "events": {"GRIPPER_HIT_TABLE": 22, "TARGET_OBJECT_DROPPED": 13, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 5, "env_id": 5, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -4.761602650888582, "joint_sparc_mean": -11.580800732067027, "ee_isj": 1575.4374567820037, "joint_isj": 563555.8144148663, "ee_path_length": 1.7201717796163591, "joint_rmse_mean": 0.03395142911917102, "ee_speed_max": 0.2452557384967804, "ee_speed_mean": 0.04685186967253685}, "events": {"GRIPPER_HIT_TABLE": 18, "TARGET_OBJECT_DROPPED": 7, "GRIPPER_HIT_OBJECT": 1}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 6, "env_id": 6, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.058488251828169, "joint_sparc_mean": -12.498577956706729, "ee_isj": 2737.041387214125, "joint_isj": 819526.4582985558, "ee_path_length": 2.1424710076658853, "joint_rmse_mean": 0.03993897481201249, "ee_speed_max": 0.3160819113254547, "ee_speed_mean": 0.05470398813486099}, "events": {"GRIPPER_HIT_TABLE": 25, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 7}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 7, "env_id": 7, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -8.797980376514849, "joint_sparc_mean": -14.452026620108658, "ee_isj": 1370.4310434547176, "joint_isj": 406611.0055011404, "ee_path_length": 1.3451278568120655, "joint_rmse_mean": 0.028309193424015933, "ee_speed_max": 0.5492261648178101, "ee_speed_mean": 0.03847069293260574}, "events": {"GRIPPER_HIT_TABLE": 19, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 6}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 8, "env_id": 8, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -7.534440370619912, "joint_sparc_mean": -12.08136125353605, "ee_isj": 2236.2974370570014, "joint_isj": 801126.7947940872, "ee_path_length": 1.9303528170700524, "joint_rmse_mean": 0.0353394201860522, "ee_speed_max": 0.4706992208957672, "ee_speed_mean": 0.04641469195485115}, "events": {"GRIPPER_HIT_OBJECT": 1, "GRIPPER_HIT_TABLE": 23, "TARGET_OBJECT_DROPPED": 7}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PhoneOrRemoteInBinTask", "task_name": "PhoneOrRemoteInBinTask", "run_name": "PhoneOrRemoteInBinTask_0", "run": 0, "episode": 9, "env_id": 9, "policy": "pi05", "instruction": "Put the phone or the remote in the grey bin", "attributes": ["conjunction", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -5.789077975510168, "joint_sparc_mean": -12.361298482265855, "ee_isj": 1434.637791196085, "joint_isj": 503793.8697174924, "ee_path_length": 2.026321524629967, "joint_rmse_mean": 0.037296895943754856, "ee_speed_max": 0.24655169248580933, "ee_speed_mean": 0.04477792978286743}, "events": {"GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 12, "GRIPPER_HIT_TABLE": 10}, "instruction_type": "default", "timing": {"policy_inference_s": 163.237, "policy_inference_avg_ms": 181.4, "env_step_s": 653.637, "env_step_avg_ms": 726.3, "video_write_s": 76.947, "video_write_avg_ms": 85.5, "wall_total_s": 893.821, "it_per_sec": 1.01}, "score": 0.0, "reason": "No object completed. Best progress: object_grabbed(object=smartphone) (step 1/2)"}
+{"env_name": "PutBowlOnShelfTopTask", "task_name": "PutBowlOnShelfTopTask", "run_name": "PutBowlOnShelfTopTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "pi05", "instruction": "Put the serving bowl anywhere on the shelf in front of you", "attributes": ["spatial", "simple"], "success": false, "episode_step": 900, "duration": 60.0, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -6.325028912219743, "joint_sparc_mean": -10.675488340227249, "ee_isj": 771.3379647919875, "joint_isj": 106303.86198573312, "ee_path_length": 3.0328989090827534, "joint_rmse_mean": 0.02304230150340938, "ee_speed_max": 0.38869956135749817, "ee_speed_mean": 0.04926019534468651}, "events": {"GRIPPER_HIT_OBJECT": 1, "OBJECT_BUMPED": 1, "OBJECT_OUT_OF_SCENE": 1, "OBJECT_MOVED": 1, "GRIPPER_FULLY_CLOSED": 3}, "instruction_type": "default", "timing": {"policy_inference_s": 162.283, "policy_inference_avg_ms": 180.3, "env_step_s": 316.698, "env_step_avg_ms": 351.9, "video_write_s": 79.775, "video_write_avg_ms": 88.6, "wall_total_s": 558.756, "it_per_sec": 1.61}, "score": 0.0, "reason": "Condition not satisfied: object_grabbed(object=serving_bowl) (step 1/2)"}
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..470c58ad5244da0379d298c6e9deda2852ba058e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 149, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 155, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 155, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 235, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 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=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 317, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 337, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.065m", "score": 0.0}, {"step": 347, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.060m", "score": 0.0}, {"step": 400, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 400, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 403, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 403, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 404, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 431, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.084m", "score": 0.0}, {"step": 454, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.433m", "score": 0.0}, {"step": 493, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 495, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.054m", "score": 0.0}, {"step": 592, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_pot'", "score": 0.0}, {"step": 650, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'coffee_pot' nudged 0.067m", "score": 0.0}, {"step": 721, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_pot' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 724, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_pot'", "score": 0.0}, {"step": 725, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'coffee_pot' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 726, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 728, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'coffee_pot'", "score": 0.0}, {"step": 753, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 869, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 873, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 873, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 873, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 933, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.0}, {"step": 937, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 937, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 948, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 948, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1003, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 1004, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1023, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 1035, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.239m", "score": 0.0}, {"step": 1048, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.059m", "score": 0.0}, {"step": 1095, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.195m", "score": 0.0}, {"step": 1118, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1126, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1136, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1151, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1205, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1216, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1216, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1216, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1229, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1276, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1276, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle). regressing to step 0 for bbq_sauce_bottle.", "score": 0.0}, {"step": 1281, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1310, "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_11-22-42_pi05/BBQSauceInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e9ba7f886e8835f4426cab985b185b90f05d97
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 22, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 147, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 151, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 151, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 215, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 286, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 293, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 499, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.5}, {"step": 608, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 643, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 646, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.5}, {"step": 809, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 811, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.5}, {"step": 812, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 826, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9d2ae36cae50402abef68eec21fc0c225c06c7a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 133, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 226, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 230, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 332, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.5}, {"step": 408, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.5}, {"step": 572, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 572, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 573, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.5}, {"step": 574, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 584, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ed13f3ab738a9f323989636ad8204ea0b6847de
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 3, "run": 0, "success": true, "final_step": 845, "events": [{"step": 117, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 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=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 165, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 166, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 209, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 238, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.056m", "score": 0.0}, {"step": 275, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 275, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 406, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.5}, {"step": 412, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 421, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.5}, {"step": 421, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.128m", "score": 0.5}, {"step": 423, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 553, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 556, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 556, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.5}, {"step": 626, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.5}, {"step": 627, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.5}, {"step": 639, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'ranch_dressing' displaced 0.588m", "score": 0.5}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 845, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 845, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ef59517d44adac2615b4274b4243fb77d0229e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 121, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 123, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 228, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 246, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 247, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 247, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 248, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 249, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 249, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 319, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 381, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.478m", "score": 0.0}, {"step": 447, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 548, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.120m", "score": 0.0}, {"step": 617, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 654, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 703, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 706, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 760, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 776, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.054m", "score": 0.0}, {"step": 785, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 787, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 900, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 919, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 924, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.161m", "score": 0.0}, {"step": 926, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 937, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.179m", "score": 0.0}, {"step": 1020, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1024, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 1024, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.0}, {"step": 1090, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.460m", "score": 0.0}, {"step": 1096, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 1103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.175m", "score": 0.0}, {"step": 1249, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc84311e3ab877cfd7be6583978ba75d76fb3dea
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 122, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 125, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 125, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 127, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 139, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 286, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 286, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 356, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.422m", "score": 0.0}, {"step": 373, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 377, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.055m", "score": 0.0}, {"step": 467, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 546, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 587, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 587, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 593, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 674, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 675, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 709, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.158m", "score": 0.0}, {"step": 721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 727, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.080m", "score": 0.0}, {"step": 797, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 873, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 890, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 890, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 897, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 1005, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1006, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1006, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1007, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1031, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1031, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1032, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'soft_scrub'", "score": 0.0}, {"step": 1037, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'soft_scrub' displaced 0.859m", "score": 0.0}, {"step": 1065, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1075, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1107, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 1112, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 1287, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.5}, {"step": 1287, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.5}, {"step": 1317, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.5}, {"step": 1318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 1318, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle). advanced 1 step(s) to step 1 for bbq_sauce_bottle.", "score": 0.5}, {"step": 1326, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.204m", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb1973a9d0cfa43f9046800a3fe8a3a8926c8e80
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 268, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 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=bbq_sauce_bottle_01, container=grey_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for bbq_sauce_bottle_01. All conditions satisfied for bbq_sauce_bottle_01.", "score": 0.5}, {"step": 483, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..a564b945c7b8e8c5cb9a7102e825681b7deae4a3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 7, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 167, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 168, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 168, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 304, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 304, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 304, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 379, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.496m", "score": 0.0}, {"step": 385, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 387, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 442, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.412m", "score": 0.0}, {"step": 475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.050m", "score": 0.0}, {"step": 505, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mug' nudged 0.054m", "score": 0.0}, {"step": 511, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 511, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 564, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'mug' displaced 0.537m", "score": 0.0}, {"step": 598, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 601, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 610, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 611, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mug'", "score": 0.0}, {"step": 754, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 754, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 787, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.139m", "score": 0.0}, {"step": 804, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 807, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 815, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.172m", "score": 0.0}, {"step": 929, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 929, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 931, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 945, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 946, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb4424bb27ed81aa474b2b56599bd9117a97f401
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 8, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 118, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 119, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 124, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 124, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 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=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 220, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 244, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 260, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 261, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 261, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 748, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 1084, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 1146, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1153, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1153, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['bbq_sauce_bottle_01', 'bbq_sauce_bottle'])", "score": 0.0}, {"step": 1251, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.0}, {"step": 1291, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 1296, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1305, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.155m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env9.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b235e024995c884426ba87cbbb5a95aff72a3b2
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BBQSauceInBinTask/log_0_env9.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BBQSauceInBinTask", "env_id": 9, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 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=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 207, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 211, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 211, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 333, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'wood_block'", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 373, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 396, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 396, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 608, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'wood_block'", "score": 0.0}, {"step": 611, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'wood_block' displaced 0.690m", "score": 0.0}, {"step": 658, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 746, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 751, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 751, "code": 248, "name": 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"TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 776, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 826, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 860, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 860, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 860, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1022, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1036, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1036, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1042, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1061, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1061, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1062, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1062, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1065, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1065, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bbq_sauce_bottle_01). regressing to step 0 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1112, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'coffee_pot'", "score": 0.0}, {"step": 1293, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bbq_sauce_bottle_01). advanced 1 step(s) to step 1 for bbq_sauce_bottle_01.", "score": 0.0}, {"step": 1319, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1319, "code": 263, 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\ No newline at end of file
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"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_on_top", "params": {"object": ["bagel_00", "bagel_06"], "reference_object": "plate_large", "gripper_name": "gripper", "logical": "all", "require_gripper_detached": true}, "time_out": false}}, "curriculum": {}, "commands": {}, "subtasks": [{"conditions": {"bagel_00": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='bagel_00')", 0.0], ["functools.partial(<function object_on_top at 0x7feb3d574220>, object='bagel_00', reference_object='plate_large', require_gripper_detached=True)", 1.0]], "bagel_06": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='bagel_06')", 0.0], ["functools.partial(<function object_on_top at 0x7feb3d574220>, object='bagel_06', reference_object='plate_large', require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place_on_surface"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "simple"], "_task_attributes": ["semantics", "simple"], "_task_name": "BagelsOnPlateTask", "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 bagels on the plate", "contact_object_list": ["bagel_00", "bagel_06", "banana", "bowl", "plate_large", "table"], "_instruction_variants": {"default": "Put the bagels on the plate", "vague": "Plate some bagels", "specific": "Pick up the two bagels from the table and place them onto the plate"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b3159b288b1c4feff616ad168727db49dd5fde5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 32, "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=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 174, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 203, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 203, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 214, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 245, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 245, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 291, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..76ba9f50169cf69903437eec07ec9f238ea8cf85
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 63, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 76, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 93, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 109, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 109, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 125, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 162, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 267, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 272, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 272, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 286, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 332, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 332, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 372, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 373, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 373, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 374, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 406, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 497, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 515, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 539, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 539, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 541, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 621, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 621, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 643, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 694, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 694, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 720, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 801, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 880, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..59826ef6537cc6c45774990643ecc7f198b9d734
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 60, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 76, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 163, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 274, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 299, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 305, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 305, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 423, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 423, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 472, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 489, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 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=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 556, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 560, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 617, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 668, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 692, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 735, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 825, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 840, "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_11-22-42_pi05/BagelsOnPlateTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..41f376874cad477a03a3a52b58cc09fc68205232
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 55, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 79, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 84, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 84, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 84, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 114, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 192, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 198, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 254, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 290, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 312, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 314, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 316, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 317, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'banana' (target objects: ['bagel_00', 'bagel_06'])", "score": 0.0}, {"step": 317, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.0}, {"step": 318, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 362, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.232m", "score": 0.0}, {"step": 366, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'banana'", "score": 0.0}, {"step": 371, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.062m", "score": 0.0}, {"step": 452, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 555, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 557, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 691, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 691, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..49333a557b2a03e6714f49487c081de0529139d6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 4, "run": 0, "success": false, "final_step": 900, "events": [{"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 67, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 81, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 81, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 96, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 303, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 456, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 466, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 499, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 672, "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_11-22-42_pi05/BagelsOnPlateTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ac1d83eff4cf489ac7cfb155c28d7ecccd3102
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 5, "run": 0, "success": false, "final_step": 900, "events": [{"step": 167, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 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=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 206, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_00). advanced 1 step(s) to step 1 for bagel_00.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_00). regressing to step 0 for bagel_00.", "score": 0.0}, {"step": 282, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_on_top(object=bagel_00, reference_object=plate_large, require_gripper_detached=True). advanced 2 step(s) to step 2 for bagel_00. All conditions satisfied for bagel_00.", "score": 0.5}, {"step": 356, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 471, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 512, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..a711182c210a7b10c9f3d07f5f96ca9779818ebb
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 63, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 196, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 196, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 197, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 222, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 222, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 223, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 224, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 224, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 261, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 281, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 281, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 308, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 317, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 317, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 332, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 346, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 351, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 377, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 377, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 403, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 467, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 467, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 471, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 512, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 512, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 526, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 607, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 607, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 611, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 680, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 680, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 693, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 695, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 695, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..90727339a39c758f4fe778b8c3a371d086ca3d5e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BagelsOnPlateTask", "env_id": 7, "run": 0, "success": false, "final_step": 900, "events": [{"step": 70, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 110, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 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=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 182, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 182, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 275, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 286, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 306, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 330, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 330, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 339, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 340, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 340, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 341, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 362, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 362, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 392, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for bagel_06.", "score": 0.0}, {"step": 415, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 415, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=bagel_06). regressing to step 0 for bagel_06.", "score": 0.0}, {"step": 469, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=bagel_06). advanced 1 step(s) to step 1 for 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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env8.json
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/BagelsOnPlateTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d321badaa4246724df7896acf916323d43877e6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 320, "events": [{"step": 110, "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": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 138, "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": 140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 141, "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": 142, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 142, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 161, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 213, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 220, "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": 226, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 226, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 227, "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": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 249, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 266, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 318, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 318, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 320, "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_11-22-42_pi05/BananaInBowlTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e25ac83638c853566bb06d5615523a38779b69
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 1, "run": 0, "success": true, "final_step": 155, "events": [{"step": 77, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 99, "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": 155, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 155, "code": 125, "name": "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_11-22-42_pi05/BananaInBowlTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6af694a07c8eb5c2ad58f5f8dbeb93959eb375db
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 2, "run": 0, "success": true, "final_step": 142, "events": [{"step": 87, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 101, "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": 140, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 140, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 142, "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_11-22-42_pi05/BananaInBowlTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..0099692289d5cea9bec233b06eeddc006a1f679e
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 3, "run": 0, "success": true, "final_step": 162, "events": [{"step": 104, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 162, "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_11-22-42_pi05/BananaInBowlTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..c836baf31327a5c26c66bc99710984a7d4edf5e3
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 4, "run": 0, "success": false, "final_step": 750, "events": [{"step": 178, "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": 213, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 213, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 273, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 636, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..1309c1e23db55feb029c7cb187dbb907a91c4267
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 5, "run": 0, "success": true, "final_step": 145, "events": [{"step": 84, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 101, "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": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 145, "code": 125, "name": "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_11-22-42_pi05/BananaInBowlTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eb2b883fa1e8df1c8a0da092e1f1141f1b3f80f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 6, "run": 0, "success": true, "final_step": 131, "events": [{"step": 81, "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": 131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 131, "code": 125, "name": "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_11-22-42_pi05/BananaInBowlTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f968f4b47a3c1f5672e3dd8f7d4e2eb45bd9ac4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaInBowlTask", "env_id": 7, "run": 0, "success": true, "final_step": 144, "events": [{"step": 91, "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": 144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 144, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env8.json
new file mode 100644
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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaInBowlTask/log_0_env9.json
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\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..341664aa90a4dfbfd51a9382dd141a4de293bf8c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 0, "run": 0, "success": false, "final_step": 900, "events": [{"step": 81, "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": 86, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 86, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 88, "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": 150, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 150, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 156, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.056m", "score": 0.5}, {"step": 202, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 207, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 207, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 212, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.5}, {"step": 244, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 332, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 380, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 391, "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": 392, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 397, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 397, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 483, "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": 550, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 550, "code": 248, "name": 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object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 759, "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": 820, "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": 846, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 846, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 851, "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": 852, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 852, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 853, "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": 856, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 856, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 857, "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": 858, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 858, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..1798b8817cf0dcee91282708ac916f540b80e746
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 1, "run": 0, "success": true, "final_step": 379, "events": [{"step": 84, "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": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 188, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 196, "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": 259, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 259, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 264, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana' nudged 0.055m", "score": 0.5}, {"step": 335, "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": 376, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 376, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 379, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2875c642a0ba8ad8affd420f2abbaec0b367ff4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 114, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 114, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 131, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 133, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.111m", "score": 0.0}, {"step": 203, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 216, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 229, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 231, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 235, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.067m", "score": 0.0}, {"step": 249, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 258, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.0}, {"step": 327, "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": 342, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 344, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 344, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 389, "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": 0.5}, {"step": 448, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 579, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 587, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 613, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 678, "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}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1b439ede251079ac6ecebbfe76dd51866aa22f6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 3, "run": 0, "success": true, "final_step": 287, "events": [{"step": 87, "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": 154, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 154, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 216, "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": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 227, "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": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 286, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8db26fa4a25519710fd030e1bc6930bcc8acd4a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 4, "run": 0, "success": true, "final_step": 696, "events": [{"step": 91, "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": 127, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 127, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 135, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 135, "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": 137, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 137, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 209, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 227, "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": 257, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 257, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 325, "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": 326, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 326, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 336, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 348, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 354, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 355, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 402, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 402, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 406, "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": 446, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 457, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 457, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 532, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 578, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 589, "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": 606, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 606, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 635, "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": 675, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 675, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 676, "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": 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=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 681, "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": 682, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 682, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 696, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01e41f9d50c7b0437295d5eb0a6e47bf1d90d4a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 5, "run": 0, "success": true, "final_step": 733, "events": [{"step": 111, "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": 135, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 135, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 136, "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": 175, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 175, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 176, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 239, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'banana'", "score": 0.5}, {"step": 364, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.5}, {"step": 380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 381, "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": 386, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 386, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 443, "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": 453, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 453, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 557, "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": 579, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 579, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 602, "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": 627, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 627, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 673, "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": 701, "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": 730, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 730, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 731, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 732, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..72e65a27b97ef0923784a17c4e62fcca2a496834
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 90, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 96, "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": 114, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 114, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 116, "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": 132, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 132, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 283, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 323, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 323, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 413, "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": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 421, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 496, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=rubiks_cube). advanced 1 step(s) to step 1 for rubiks_cube.", "score": 0.5}, {"step": 522, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 522, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 685, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 809, "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": 827, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 827, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 828, "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": 829, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.5}, {"step": 833, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 833, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 834, "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": 838, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 838, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}, {"step": 839, "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": 842, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.5}, {"step": 842, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=rubiks_cube). regressing to step 0 for rubiks_cube.", "score": 0.5}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba96d98464d19187ccf20e8a37bbe04e56e9df8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananaThenRubiksCubeTask", "env_id": 7, "run": 0, "success": true, "final_step": 532, "events": [{"step": 104, "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": 145, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 145, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 228, "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": 241, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 241, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 490, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'rubiks_cube'", "score": 0.0}, {"step": 509, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'rubiks_cube' (target objects: ['banana'])", "score": 0.0}, {"step": 510, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/2", "score": 0.5}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'rubiks_cube'", "score": 0.5}, {"step": 511, "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": 525, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 525, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 2/2", "score": 1.0}, {"step": 527, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'rubiks_cube' nudged 0.236m", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..89d4fd8e4c9dc41ffbb6e058bf2c0f3f9ecf1a40
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananaThenRubiksCubeTask/log_0_env8.json
@@ -0,0 +1 @@
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Make sure there are exactly 2 (two) bananas in the crate."}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..459771d8c6febe4f25850714845a4129df8048fa
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 0, "run": 0, "success": true, "final_step": 816, "events": [{"step": 71, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 72, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 72, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_02). regressing to step 0 for banana_02.", "score": 0.0}, {"step": 74, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 76, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 76, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_02). regressing to step 0 for banana_02.", "score": 0.0}, {"step": 82, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_04). advanced 1 step(s) to step 1 for banana_04.", "score": 0.0}, {"step": 91, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 91, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_04). regressing to step 0 for banana_04.", "score": 0.0}, {"step": 105, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 139, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_04', 'banana_03', 'banana', 'banana_02'])", "score": 0.0}, {"step": 139, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit 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"code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 332, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_04', 'banana_03', 'banana', 'banana_02'])", "score": 0.0}, {"step": 334, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 345, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 345, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_02). regressing to step 0 for banana_02.", "score": 0.0}, {"step": 351, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 448, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 477, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 477, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_02). regressing to step 0 for banana_02.", "score": 0.0}, {"step": 588, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 590, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 592, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 594, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 594, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 595, "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": 650, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 655, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 655, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 764, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 765, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 765, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 766, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 816, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 816, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f5134723f849ddf4097a6dcba79212982982ed5
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 1, "run": 0, "success": true, "final_step": 883, "events": [{"step": 88, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 131, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "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=banana_02). regressing to step 0 for banana_02.", "score": 0.0}, {"step": 221, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 256, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 256, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 329, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 337, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 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_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 387, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'purple_crate'", "score": 0.0}, {"step": 429, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_01' nudged 0.071m", "score": 0.0}, {"step": 432, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'purple_crate' nudged 0.083m", "score": 0.0}, {"step": 445, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'banana_01' nudged 0.113m", "score": 0.0}, {"step": 537, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 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=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 550, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 550, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 561, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 561, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 563, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_04', 'banana_03', 'banana', 'banana_02'])", "score": 0.0}, {"step": 580, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 732, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 752, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 752, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 756, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 854, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 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_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 883, "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_11-22-42_pi05/BananasInCrateTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d54d01a641b6b723030c4eaadabc46810605580
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 2, "run": 0, "success": true, "final_step": 286, "events": [{"step": 89, "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": 112, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 112, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 115, "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": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 120, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 124, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 234, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana). advanced 1 step(s) to step 1 for banana.", "score": 0.0}, {"step": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 236, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 266, "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": 268, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 268, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 271, "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": 286, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 286, "code": 125, "name": "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_11-22-42_pi05/BananasInCrateTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3a8319546f3f47c413c1a21edca9040900e3aa6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 3, "run": 0, "success": true, "final_step": 346, "events": [{"step": 104, "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": 113, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 113, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 115, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 116, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 117, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_03). regressing to step 0 for banana_03.", "score": 0.0}, {"step": 131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "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": 144, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 144, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 198, "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": 214, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 214, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 215, "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": 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=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 233, "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": 235, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 235, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana). regressing to step 0 for banana.", "score": 0.0}, {"step": 239, "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=banana_03). advanced 1 step(s) to step 1 for banana_03.", "score": 0.0}, {"step": 346, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 346, "code": 125, "name": "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_11-22-42_pi05/BananasInCrateTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96824319d7303dd3e8c1745b0d37bbc87f89ac0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 4, "run": 0, "success": true, "final_step": 161, "events": [{"step": 64, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_04). advanced 1 step(s) to step 1 for banana_04.", "score": 0.0}, {"step": 95, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 95, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_04). regressing to step 0 for banana_04.", "score": 0.0}, {"step": 101, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_02). regressing to step 0 for banana_02.", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcb63572412950dfed2bdd6bc3944015f2a2ace7
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BananasInCrateTask", "env_id": 5, "run": 0, "success": true, "final_step": 136, "events": [{"step": 43, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_04). advanced 1 step(s) to step 1 for banana_04.", "score": 0.0}, {"step": 55, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 55, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_04). regressing to step 0 for banana_04.", "score": 0.0}, {"step": 58, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=banana_02). advanced 1 step(s) to step 1 for banana_02.", "score": 0.0}, {"step": 108, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_04', 'banana_03', 'banana', 'banana_02'])", "score": 0.0}, {"step": 108, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'purple_crate'", "score": 0.0}, {"step": 108, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 121, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'purple_crate' (target objects: ['banana_04', 'banana_03', 'banana', 'banana_02'])", "score": 0.0}, {"step": 126, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'purple_crate'", "score": 0.0}, {"step": 131, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 131, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=banana_02). regressing to step 0 for banana_02.", "score": 0.0}, {"step": 136, "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_11-22-42_pi05/BananasInCrateTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a9eb7c0a348f3c3f5d4bcaff62bc9e8980626bf
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BananasInCrateTask/log_0_env6.json
@@ -0,0 +1 @@
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0x7feb3d52efc0>, objects=['blue_block', 'green_block'], order='bottom_to_top')", 1.0]]}, "score": 0.33, "logical": "all", "K": null, "name": "unnamed_subtask"}, {"conditions": {"conditions": [["functools.partial(<function stacked at 0x7feb3d52efc0>, objects=['green_block', 'yellow_block'], order='bottom_to_top')", 1.0]]}, "score": 0.34, "logical": "all", "K": null, "name": "unnamed_subtask"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["stacking", "color", "complex"], "_task_attributes": ["stacking", "color", "complex"], "_task_name": "BlockStackingSpecifiedOrderTask", "num_envs": 10, "env_spacing": 10.0, "contact_gripper": {"gripper": "{ENV_REGEX_NS}/robot/Gripper/Robotiq_2F_85/left_inner_finger"}, "gripper_closure_cfg": null, "instruction": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "contact_object_list": ["red_block", "blue_block", "green_block", "yellow_block", "table"], "_instruction_variants": {"default": "Stack the blocks in the order from bottom to top: red, blue, green, yellow", "vague": "Stack in the order of red, blue, green, yellow", "specific": "Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..30d3a8a3b0662a82cf5d3f8ca347ac70427820e0
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 0, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 58, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 58, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 63, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 64, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 77, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 130, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 130, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.114m", "score": 0.0}, {"step": 192, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 192, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 272, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.174m", "score": 0.0}, {"step": 346, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 346, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 350, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 362, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 364, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 365, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 370, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 371, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 372, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 382, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 431, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 439, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 442, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 443, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 444, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 445, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 455, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 496, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.280m", "score": 0.0}, {"step": 535, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 537, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.080m", "score": 0.0}, {"step": 722, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1082, "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_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..0289c9364e8ab3fe4410ef1421732dc459366ca4
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 1, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 91, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 91, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 94, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 94, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 132, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 137, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 155, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 157, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.067m", "score": 0.0}, {"step": 255, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 255, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 408, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 412, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.099m", "score": 0.0}, {"step": 427, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 683, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 694, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 694, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 734, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 736, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 776, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 784, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.062m", "score": 0.0}, {"step": 895, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 895, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.186m", "score": 0.0}, {"step": 1100, "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_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..95eb9e5c073af087661cb112829f7bb2fa1aec94
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 2, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 53, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 53, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 76, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.104m", "score": 0.0}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 158, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 309, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 309, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 355, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 358, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 361, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 463, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 488, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 491, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 499, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.076m", "score": 0.0}, {"step": 501, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.259m", "score": 0.0}, {"step": 576, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 616, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 617, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.097m", "score": 0.0}, {"step": 746, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 746, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 761, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 785, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 810, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.159m", "score": 0.0}, {"step": 816, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 823, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.135m", "score": 0.0}, {"step": 893, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 974, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 1007, "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_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..c60d38a1db2feb4abf5eadc84093eb229bd25c88
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 3, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 66, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 66, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 103, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.110m", "score": 0.0}, {"step": 106, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 111, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.054m", "score": 0.0}, {"step": 122, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 189, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 260, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 369, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 369, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 383, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 384, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 386, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 412, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 460, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 556, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 557, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.262m", "score": 0.0}, {"step": 562, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 571, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 633, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 773, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 780, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 815, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.053m", "score": 0.0}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.068m", "score": 0.0}, {"step": 1012, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 1042, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1043, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 1044, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1096, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.251m", "score": 0.0}, {"step": 1113, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 1119, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.143m", "score": 0.0}, {"step": 1120, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.061m", "score": 0.0}, {"step": 1156, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1193, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1213, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1293, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1314, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c55ff2e462f8cd60322bf65ad1d3ee78fadae78
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 4, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 57, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 57, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 91, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 91, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.117m", "score": 0.0}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 195, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 196, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 316, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 319, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.242m", "score": 0.0}, {"step": 363, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 521, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 542, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 861, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 861, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 884, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 884, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 886, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 887, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 901, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 904, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.057m", "score": 0.0}, {"step": 961, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1029, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 1030, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.228m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b7ad43ccd01981a8461687166904011fb6f784
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 5, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 75, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 81, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'blue_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 81, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'blue_block'", "score": 0.0}, {"step": 101, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'blue_block'", "score": 0.0}, {"step": 154, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 154, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 192, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.149m", "score": 0.0}, {"step": 241, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 450, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 452, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 453, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 457, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 462, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 507, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 549, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.260m", "score": 0.0}, {"step": 588, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 671, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 671, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 672, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 678, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 686, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 705, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 733, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 880, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 901, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.126m", "score": 0.0}, {"step": 925, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}, {"step": 927, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1022, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_block' nudged 0.236m", "score": 0.0}, {"step": 1035, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeaf8baea16715424909fd57e8d67de8c4966870
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 6, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 66, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 66, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 89, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.115m", "score": 0.0}, {"step": 96, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 209, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 225, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 231, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.142m", "score": 0.0}, {"step": 350, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 441, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 442, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 445, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 460, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 471, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 471, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.138m", "score": 0.0}, {"step": 481, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 484, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.057m", "score": 0.0}, {"step": 652, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 658, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc376a64d4c50e602a49cbd824ff0945ef8ab08
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "BlockStackingSpecifiedOrderTask", "env_id": 7, "run": 0, "success": false, "final_step": 1350, "events": [{"step": 62, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'yellow_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 62, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'yellow_block'", "score": 0.0}, {"step": 94, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.099m", "score": 0.0}, {"step": 121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'blue_block' nudged 0.062m", "score": 0.0}, {"step": 121, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.052m", "score": 0.0}, {"step": 155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.091m", "score": 0.0}, {"step": 166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'yellow_block'", "score": 0.0}, {"step": 253, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 253, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'green_block'", "score": 0.0}, {"step": 256, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 291, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'green_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 442, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'green_block'", "score": 0.0}, {"step": 451, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'yellow_block' nudged 0.059m", "score": 0.0}, {"step": 452, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'green_block' nudged 0.304m", "score": 0.0}, {"step": 461, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 617, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 748, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 762, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 778, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 784, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 842, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 881, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 984, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1022, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1318, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_block' (target objects: ['conditions'])", "score": 0.0}, {"step": 1318, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_block'", "score": 0.0}, {"step": 1333, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_block'", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..5848162f586a2c7a486158448d93764ae335df49
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/BlockStackingSpecifiedOrderTask/log_0_env8.json
@@ -0,0 +1 @@
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"specific": "Put the small canned tuna in the grey bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..290dd00025c76f31b4bae557786b8b2fff726679
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 0, "run": 0, "success": true, "final_step": 194, "events": [{"step": 95, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 143, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 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=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 151, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 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=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 155, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 157, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 157, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 161, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 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=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 164, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 165, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 165, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 166, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 194, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 194, "code": 125, "name": "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_11-22-42_pi05/CannedFoodInBinTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..942297272b127beb99d925a680e4734a8e087427
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 1, "run": 0, "success": false, "final_step": 900, "events": [{"step": 122, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 122, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 136, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 163, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 166, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 451, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 694, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 697, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.074m", "score": 0.0}, {"step": 843, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 858, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 858, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 864, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.064m", "score": 0.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a01b8fe3d133d455ebdff77a1a78b8b3e520332
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 2, "run": 0, "success": false, "final_step": 900, "events": [{"step": 209, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 209, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 215, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 286, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 289, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mug' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 289, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mug'", "score": 0.0}, {"step": 289, "code": 265, "name": "MULTIPLE_OBJECTS_GRABBED", "info": "Multiple objects grabbed", "score": 0.0}, {"step": 297, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 299, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 302, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 323, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 324, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'bbq_sauce_bottle_01' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 328, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'bbq_sauce_bottle_01'", "score": 0.0}, {"step": 328, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 336, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'bbq_sauce_bottle_01' displaced 0.504m", "score": 0.0}, {"step": 365, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 385, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.078m", "score": 0.0}, {"step": 502, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 503, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 512, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 528, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 529, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.067m", "score": 0.0}, {"step": 766, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 798, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 799, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 799, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 802, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 804, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 804, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 893, "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_11-22-42_pi05/CannedFoodInBinTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa1438502fd796afdb11327af203e6d98530973c
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 3, "run": 0, "success": false, "final_step": 900, "events": [{"step": 50, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 67, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.105m", "score": 0.0}, {"step": 126, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 678, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 685, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 716, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 720, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 726, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 826, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'oatmeal_raisin_cookies' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 836, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'oatmeal_raisin_cookies'", "score": 0.0}, {"step": 848, "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_11-22-42_pi05/CannedFoodInBinTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04ff90db7018432e25adcd99830696b0d881b66
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 4, "run": 0, "success": true, "final_step": 544, "events": [{"step": 131, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 136, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.065m", "score": 0.0}, {"step": 165, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 376, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 393, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 422, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 425, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 445, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 445, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 445, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 544, "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_11-22-42_pi05/CannedFoodInBinTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d16461714ca03ef58cea7e275f34376e0baae51
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 5, "run": 0, "success": true, "final_step": 886, "events": [{"step": 87, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 87, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.0}, {"step": 159, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.434m", "score": 0.0}, {"step": 173, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 177, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.090m", "score": 0.0}, {"step": 436, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 548, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 575, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 659, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 670, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 670, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 670, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 696, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 739, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.068m", "score": 0.0}, {"step": 754, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 766, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 766, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 767, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 836, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 877, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 882, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.099m", "score": 0.0}, {"step": 886, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 886, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..34fb0556a03a17aaffc3e700eadb33d7b3229130
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 6, "run": 0, "success": false, "final_step": 900, "events": [{"step": 70, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'bowl'", "score": 0.0}, {"step": 107, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 129, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 129, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'ranch_dressing'", "score": 0.0}, {"step": 149, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.125m", "score": 0.0}, {"step": 206, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'ranch_dressing' nudged 0.417m", "score": 0.0}, {"step": 213, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 215, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'ranch_dressing' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 217, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'ranch_dressing'", "score": 0.0}, {"step": 297, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'mustard'", "score": 0.0}, {"step": 434, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.064m", "score": 0.0}, {"step": 535, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'grey_bin'", "score": 0.0}, {"step": 658, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 667, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 683, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 683, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.074m", "score": 0.0}, {"step": 758, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'mustard' (target objects: ['canned_tuna'])", "score": 0.0}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.136m", "score": 0.0}, {"step": 815, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 818, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'mustard'", "score": 0.0}, {"step": 837, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.136m", "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_11-22-42_pi05/CannedFoodInBinTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6bf24339568877cf4b01449800d35b7051d665
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "CannedFoodInBinTask", "env_id": 7, "run": 0, "success": true, "final_step": 344, "events": [{"step": 108, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 112, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'mustard' nudged 0.076m", "score": 0.0}, {"step": 183, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 238, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 257, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 261, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 264, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.0}, {"step": 304, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=canned_tuna). advanced 1 step(s) to step 1 for canned_tuna.", "score": 0.0}, {"step": 343, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 343, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=canned_tuna). regressing to step 0 for canned_tuna.", "score": 0.0}, {"step": 344, "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_11-22-42_pi05/CannedFoodInBinTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..74f7a9bc8d3e0a8e124b51bb8ed92f72a9e88df8
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/CannedFoodInBinTask/log_0_env8.json
@@ -0,0 +1 @@
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object_grabbed at 0x7feb3d574720>, object='whitepackerbottle_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='whitepackerbottle_a01', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "milkjug_a01": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='milkjug_a01')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='milkjug_a01', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]], "utilityjug_a03": [["functools.partial(<function object_grabbed at 0x7feb3d574720>, object='utilityjug_a03')", 0.0], ["functools.partial(<function object_in_container at 0x7feb3d574360>, object='utilityjug_a03', container='right_bin', require_contact_with=False, require_gripper_detached=True)", 1.0]]}, "score": 1.0, "logical": "all", "K": null, "name": "pick_and_place"}], "ee_recorder_bodies": {"ee_pose": "base_link"}, "task_attributes": ["semantics", "moderate"], "_task_attributes": ["semantics", "moderate"], "_task_name": "ClutterPlasticTask", "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 all plastic bottles away in the bin", "contact_object_list": ["lemon_01", "lemon_02", "lime01", "lime01_01", "orange_01", "orange_02", "pomegranate01", "pumpkinlarge", "pumpkinsmall", "red_onion", "whitepackerbottle_a01", "avocado01", "crabbypenholder", "milkjug_a01", "serving_bowl", "utilityjug_a03", "right_bin", "table"], "_instruction_variants": {"default": "Put all plastic bottles away in the bin", "vague": "Clean up all the bottles", "specific": "Pick up all three plastic bottles (milk jug, utility jug, and plastic bottle) from the table and place them into the bin"}, "policy": "pi05", "renderer": "realtime"}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env0.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6b863cdb0c645896eccae0a0ca30c8389aa374a
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env0.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 0, "run": 0, "success": true, "final_step": 1497, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 71, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 134, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 134, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 135, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 256, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 284, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.064m", "score": 0.3333333333333333}, {"step": 344, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 442, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 442, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 444, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 559, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 559, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 560, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 678, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 678, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 699, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 738, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 742, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 747, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 747, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 760, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 818, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 820, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 992, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 992, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1006, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1058, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1058, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1066, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1092, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1093, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1155, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.422m", "score": 0.6666666666666666}, {"step": 1161, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1170, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.160m", "score": 0.6666666666666666}, {"step": 1270, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1271, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1271, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1281, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1308, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1308, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1310, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1317, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1395, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1497, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1497, "code": 125, "name": "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_11-22-42_pi05/ClutterPlasticTask/log_0_env1.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env1.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8a509093b297c3c84cd35e37171fa145b3f0d4f
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env1.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 1, "run": 0, "success": true, "final_step": 1591, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 78, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 106, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 106, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 109, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 272, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 328, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 331, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 331, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 347, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 421, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 421, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 624, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 625, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 625, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 628, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 632, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 632, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 634, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 646, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 646, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 651, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 652, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 779, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.6666666666666666}, {"step": 829, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.257m", "score": 0.6666666666666666}, {"step": 946, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 956, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 961, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1011, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1012, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1014, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1015, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1020, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1021, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1022, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1160, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1164, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1171, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1196, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1201, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1393, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1395, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 1501, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 1519, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 1591, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1591, "code": 125, "name": "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_11-22-42_pi05/ClutterPlasticTask/log_0_env2.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb7853e0b90e3ef4f8ab5692d68c602e6c323aab
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env2.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 2, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 109, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 167, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 172, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 193, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 194, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 194, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 195, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 269, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.558m", "score": 0.0}, {"step": 558, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 590, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.197m", "score": 0.0}, {"step": 616, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.108m", "score": 0.0}, {"step": 634, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.140m", "score": 0.0}, {"step": 660, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 661, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 750, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.058m", "score": 0.0}, {"step": 791, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.214m", "score": 0.0}, {"step": 827, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 827, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 839, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 841, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 934, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 935, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 935, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1016, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1084, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1084, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1085, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 1156, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.3333333333333333}, {"step": 1190, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.140m", "score": 0.3333333333333333}, {"step": 1191, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1283, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1407, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1409, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1698, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1700, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1701, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 2190, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_onion' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2190, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_onion'", "score": 0.3333333333333333}, {"step": 2236, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.306m", "score": 0.3333333333333333}, {"step": 2273, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.323m", "score": 0.3333333333333333}, {"step": 2277, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_onion'", "score": 0.3333333333333333}, {"step": 2289, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.208m", "score": 0.3333333333333333}, {"step": 2402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2407, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.3333333333333333}, {"step": 2409, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2410, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2462, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.405m", "score": 0.3333333333333333}, {"step": 2473, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.053m", "score": 0.3333333333333333}, {"step": 2475, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.3333333333333333}, {"step": 2477, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.091m", "score": 0.3333333333333333}, {"step": 2500, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.111m", "score": 0.3333333333333333}, {"step": 2508, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.203m", "score": 0.3333333333333333}, {"step": 2546, "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_11-22-42_pi05/ClutterPlasticTask/log_0_env3.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env3.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e3ab18a5baf916130508e10ee9ae58167dd214
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env3.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 3, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 17, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 78, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 152, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 152, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 239, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 270, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 273, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 283, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 284, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 400, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 401, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 402, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 404, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 405, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 440, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 443, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 446, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 621, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 628, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 631, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 632, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 633, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 745, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 773, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 773, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1190, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1872, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1936, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1936, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 1939, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1957, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1978, "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_11-22-42_pi05/ClutterPlasticTask/log_0_env4.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env4.json
new file mode 100644
index 0000000000000000000000000000000000000000..b976cd639a4a4b90887d76a57edb60f2829c7ba6
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env4.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 4, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 80, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 166, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 166, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 249, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 251, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 268, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 269, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 271, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 319, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 324, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 325, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 329, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 330, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 331, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 374, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 465, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_onion' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 465, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'red_onion'", "score": 0.3333333333333333}, {"step": 492, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_onion'", "score": 0.3333333333333333}, {"step": 721, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'red_onion' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 766, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'red_onion'", "score": 0.3333333333333333}, {"step": 768, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 778, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_onion' displaced 0.534m", "score": 0.3333333333333333}, {"step": 900, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'orange_01'", "score": 0.3333333333333333}, {"step": 901, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 903, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 903, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'lemon_01'", "score": 0.3333333333333333}, {"step": 904, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 906, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'serving_bowl'", "score": 0.3333333333333333}, {"step": 906, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'right_bin'", "score": 0.3333333333333333}, {"step": 906, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'red_onion'", "score": 0.3333333333333333}, {"step": 907, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'serving_bowl' displaced 0.582m", "score": 0.3333333333333333}, {"step": 907, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'avocado01'", "score": 0.3333333333333333}, {"step": 908, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'crabbypenholder' displaced 0.570m", "score": 0.3333333333333333}, {"step": 911, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lime01' displaced 0.587m", "score": 0.3333333333333333}, {"step": 911, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.404m", "score": 0.3333333333333333}, {"step": 912, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.464m", "score": 0.3333333333333333}, {"step": 912, "code": 260, "name": "OBJECT_OUT_OF_SCENE", "info": "Object out of scene: 'orange_02'", "score": 0.3333333333333333}, {"step": 913, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'right_bin' displaced 0.714m", "score": 0.3333333333333333}, {"step": 917, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.491m", "score": 0.3333333333333333}, {"step": 917, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'red_onion' displaced 0.772m", "score": 0.3333333333333333}, {"step": 918, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'orange_02' displaced 1.141m", "score": 0.3333333333333333}, {"step": 920, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'avocado01' displaced 1.177m", "score": 0.3333333333333333}, {"step": 922, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinsmall' displaced 0.705m", "score": 0.3333333333333333}, {"step": 925, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'lemon_01' displaced 2.415m", "score": 0.3333333333333333}, {"step": 932, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pomegranate01' displaced 3.189m", "score": 0.3333333333333333}, {"step": 938, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pomegranate01' nudged 0.055m", "score": 0.3333333333333333}, {"step": 1245, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1314, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01'", "score": 0.3333333333333333}, {"step": 1320, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1321, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1351, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1366, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1437, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1473, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.160m", "score": 0.3333333333333333}, {"step": 1475, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1529, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1561, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.073m", "score": 0.3333333333333333}, {"step": 1586, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1600, "code": 255, "name": "GRIPPER_HIT_TABLE", "info": "Gripper hit table", "score": 0.3333333333333333}, {"step": 1624, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.057m", "score": 0.3333333333333333}, {"step": 1634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1715, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1716, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1830, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1833, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1913, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1914, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1915, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1941, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01'", "score": 0.3333333333333333}, {"step": 1943, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01' nudged 0.120m", "score": 0.3333333333333333}, {"step": 2241, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lime01_01'", "score": 0.3333333333333333}, {"step": 2250, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2251, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.3333333333333333}, {"step": 2450, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2453, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.3333333333333333}, {"step": 2459, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lime01_01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2461, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lime01_01'", "score": 0.3333333333333333}, {"step": 2506, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lime01_01' nudged 0.158m", "score": 0.3333333333333333}, {"step": 2606, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_02' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2606, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_02'", "score": 0.3333333333333333}, {"step": 2626, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_02'", "score": 0.3333333333333333}, {"step": 2634, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2634, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.091m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env5.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f8e3fa04a8011de5559470b7aee860e5603b8fe
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env5.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 5, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 60, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 118, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 118, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 119, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 223, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 223, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 233, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 234, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 238, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 238, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 239, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 249, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 257, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 257, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 259, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 376, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 446, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 447, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 451, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 501, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 501, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 511, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 706, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 708, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 710, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 711, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 712, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 715, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 717, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 718, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 720, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 721, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 777, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 780, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 841, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 845, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 847, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 848, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 850, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 851, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 863, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 1075, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1141, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1141, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1146, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1159, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2399, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2405, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2406, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 2411, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2412, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 2474, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2478, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 2479, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 2485, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 2548, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.583m", "score": 0.3333333333333333}, {"step": 2549, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.3333333333333333}, {"step": 2564, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.190m", "score": 0.3333333333333333}, {"step": 2639, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.3333333333333333}, {"step": 2676, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.317m", "score": 0.3333333333333333}, {"step": 2681, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.135m", "score": 0.3333333333333333}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env6.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env6.json
new file mode 100644
index 0000000000000000000000000000000000000000..b212e119dd655f8bcccd99b6f32571157dd5fbbd
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env6.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 6, "run": 0, "success": true, "final_step": 1103, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 95, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 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=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 182, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 305, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=utilityjug_a03). advanced 1 step(s) to step 1 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 398, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 398, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=utilityjug_a03). regressing to step 0 for utilityjug_a03.", "score": 0.3333333333333333}, {"step": 399, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_in_container(object=utilityjug_a03, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 2 step(s) to step 2 for utilityjug_a03. All conditions satisfied for utilityjug_a03.", "score": 0.6666666666666666}, {"step": 539, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 629, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 630, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 694, "code": 259, "name": "OBJECT_MOVED", "info": "Object moved: 'pumpkinlarge' displaced 0.559m", "score": 0.6666666666666666}, {"step": 704, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 711, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.142m", "score": 0.6666666666666666}, {"step": 824, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 853, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 856, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 909, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 910, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 911, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 913, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 914, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 914, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 915, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 1004, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1103, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 1103, "code": 125, "name": "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_11-22-42_pi05/ClutterPlasticTask/log_0_env7.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env7.json
new file mode 100644
index 0000000000000000000000000000000000000000..00048d5f7059854cd630ba885cde28b9755f9e00
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env7.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 7, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 32, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 107, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 181, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 181, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. All conditions satisfied for whitepackerbottle_a01.", "score": 0.3333333333333333}, {"step": 303, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_01'", "score": 0.3333333333333333}, {"step": 357, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_01' nudged 0.345m", "score": 0.3333333333333333}, {"step": 965, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'lemon_02' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 965, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'lemon_02'", "score": 0.3333333333333333}, {"step": 1015, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'lemon_02'", "score": 0.3333333333333333}, {"step": 1022, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'lemon_02' nudged 0.368m", "score": 0.3333333333333333}, {"step": 1202, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1214, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1215, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1265, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1273, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1274, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1276, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1350, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1354, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1355, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1359, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1360, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.3333333333333333}, {"step": 1362, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1366, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.3333333333333333}, {"step": 1428, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1528, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1529, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.3333333333333333}, {"step": 1530, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 1530, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=milkjug_a01). regressing to step 0 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1564, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=milkjug_a01). advanced 1 step(s) to step 1 for milkjug_a01.", "score": 0.3333333333333333}, {"step": 1669, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.6666666666666666}, {"step": 1669, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=milkjug_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for milkjug_a01. All conditions satisfied for milkjug_a01.", "score": 0.6666666666666666}, {"step": 1801, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'orange_02'", "score": 0.6666666666666666}, {"step": 1842, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'orange_02' nudged 0.142m", "score": 0.6666666666666666}, {"step": 1993, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 1996, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 1997, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2001, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2004, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2006, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2010, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2080, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2081, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2082, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2083, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2086, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.6666666666666666}, {"step": 2183, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2220, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2221, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2272, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2278, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2281, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2325, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2326, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2333, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2350, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2350, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2356, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2361, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2361, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2370, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2380, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.6666666666666666}, {"step": 2381, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.6666666666666666}, {"step": 2388, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.6666666666666666}, {"step": 2394, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.067m", "score": 0.6666666666666666}, {"step": 2475, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.054m", "score": 0.6666666666666666}, {"step": 2486, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.087m", "score": 0.6666666666666666}, {"step": 2528, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.218m", "score": 0.6666666666666666}]}
\ No newline at end of file
diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env8.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env8.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df9dfc390b1394e1aac8684f3aeb7567861979d
--- /dev/null
+++ b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env8.json
@@ -0,0 +1 @@
+{"schema_version": 2, "dt": 0.06666666666666667, "task": "ClutterPlasticTask", "env_id": 8, "run": 0, "success": false, "final_step": 2700, "events": [{"step": 7, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'red_onion' nudged 0.055m", "score": 0.0}, {"step": 146, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinsmall'", "score": 0.0}, {"step": 147, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 151, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 196, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pumpkinlarge'", "score": 0.0}, {"step": 252, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 253, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 254, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 255, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 538, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 540, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.065m", "score": 0.0}, {"step": 541, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 657, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinlarge' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 659, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinlarge'", "score": 0.0}, {"step": 659, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 671, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinlarge' nudged 0.374m", "score": 0.0}, {"step": 736, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 736, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'pomegranate01'", "score": 0.0}, {"step": 752, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 753, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 774, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 778, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 847, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 866, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 867, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 868, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 869, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 869, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 874, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 929, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 943, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 944, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 946, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 947, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 955, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 956, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 957, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 959, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pomegranate01' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 961, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 962, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pomegranate01'", "score": 0.0}, {"step": 1492, "code": 250, "name": "WRONG_OBJECT_GRABBED_FAILURE", "info": "Wrong object grabbed: 'pumpkinsmall' (target objects: ['utilityjug_a03', 'milkjug_a01', 'whitepackerbottle_a01'])", "score": 0.0}, {"step": 1494, "code": 0, "name": "OK", "info": "Wrong object that was grabbed is now detached: 'pumpkinsmall'", "score": 0.0}, {"step": 1494, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 1494, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.059m", "score": 0.0}, {"step": 1641, "code": 258, "name": "OBJECT_BUMPED", "info": "Object bumped: 'pumpkinsmall' nudged 0.401m", "score": 0.0}, {"step": 1921, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1930, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.0}, {"step": 1930, "code": 248, "name": "OBJECT_GRABBED_FAILURE", "info": "failed: object_grabbed(object=whitepackerbottle_a01). regressing to step 0 for whitepackerbottle_a01.", "score": 0.0}, {"step": 1995, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=whitepackerbottle_a01). advanced 1 step(s) to step 1 for whitepackerbottle_a01.", "score": 0.0}, {"step": 2077, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 0.3333333333333333}, {"step": 2077, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=whitepackerbottle_a01, container=right_bin, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for whitepackerbottle_a01. 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diff --git a/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env9.json b/pi0.5/2026-09-29_11-22-42_pi05/ClutterPlasticTask/log_0_env9.json
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