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@@ -5226,3 +5226,4 @@ full_task_1x_standard/YogurtInBowlTask/run_6.hdf5 filter=lfs diff=lfs merge=lfs
 full_task_1x_standard/YogurtInBowlTask/run_7.hdf5 filter=lfs diff=lfs merge=lfs -text
 full_task_1x_standard/YogurtInBowlTask/run_8.hdf5 filter=lfs diff=lfs merge=lfs -text
 full_task_1x_standard/YogurtInBowlTask/run_9.hdf5 filter=lfs diff=lfs merge=lfs -text
+harness_test_pure/AppleAndYogurtInBowlTask/run_0.hdf5 filter=lfs diff=lfs merge=lfs -text

harness_test_pure/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_0.mp4

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+size 6916277

harness_test_pure/AppleAndYogurtInBowlTask/Put_the_apple_and_yogurt_in_the_bowl_0_viewport.mp4

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harness_test_pure/AppleAndYogurtInBowlTask/log_0_env0.json

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+{"schema_version": 2, "dt": 0.06666666666666667, "task": "AppleAndYogurtInBowlTask", "env_id": 0, "run": 0, "success": true, "final_step": 316, "events": [{"step": 62, "code": 256, "name": "GRIPPER_FULLY_CLOSED", "info": "Gripper fully closed", "score": 0.0}, {"step": 105, "code": 264, "name": "GRIPPER_HIT_OBJECT", "info": "Gripper hit object: 'keyboard'", "score": 0.0}, {"step": 137, "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": 0.5}, {"step": 196, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "success: object_in_container(object=apple_01, container=wooden_bowl, require_contact_with=False, require_gripper_detached=True). advanced 1 step(s) to step 2 for apple_01. All conditions satisfied for apple_01.", "score": 0.5}, {"step": 273, "code": 139, "name": "OBJECT_GRABBED_SUCCESS", "info": "success: object_grabbed(object=yogurt_cup). advanced 1 step(s) to step 1 for yogurt_cup.", "score": 0.5}, {"step": 316, "code": 263, "name": "TARGET_OBJECT_DROPPED", "info": "Target object dropped during transport", "score": 1.0}, {"step": 316, "code": 125, "name": "OBJECT_IN_CONTAINER_SUCCESS", "info": "Completed subtask 'pick_and_place' 1/1", "score": 1.0}]}

harness_test_pure/AppleAndYogurtInBowlTask/run_0.hdf5

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harness_test_pure/episode_results.jsonl

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+{"env_name": "AppleAndYogurtInBowlTask", "task_name": "AppleAndYogurtInBowlTask", "run_name": "AppleAndYogurtInBowlTask_0", "run": 0, "episode": 0, "env_id": 0, "policy": "harness", "instruction": "Put the apple and yogurt in the bowl", "attributes": ["affordance", "moderate"], "success": true, "episode_step": 316, "duration": 21.066666666666666, "dt": 0.06666666666666667, "metrics": {"ee_sparc": -3.864026261363053, "joint_sparc_mean": -5.797498413773146, "ee_isj": 348.5026669930687, "joint_isj": 6668.170168323343, "ee_path_length": 2.0401262234496613, "joint_rmse_mean": 1.0015277158151086, "ee_speed_max": 0.3506881296634674, "ee_speed_mean": 0.091075100004673}, "events": {"GRIPPER_FULLY_CLOSED": 1, "GRIPPER_HIT_OBJECT": 1, "TARGET_OBJECT_DROPPED": 2}, "instruction_type": "default", "timing": {"policy_inference_s": 983.324, "policy_inference_avg_ms": 3111.8, "env_step_s": 155.958, "env_step_avg_ms": 493.5, "video_write_s": 2.583, "video_write_avg_ms": 8.2, "wall_total_s": 1141.866, "it_per_sec": 0.28}, "score": 1.0, "reason": "Completed subtask 'pick_and_place' 1/1"}