diff --git "a/prepare_groceries/pick/008_pudding_box.json" "b/prepare_groceries/pick/008_pudding_box.json" new file mode 100644--- /dev/null +++ "b/prepare_groceries/pick/008_pudding_box.json" @@ -0,0 +1,18030 @@ +{ + "env_info": { + "env_id": "PickSubtaskTrain-v0", + "env_kwargs": { + "obs_mode": "rgb+depth+segmentation", + "reward_mode": "normalized_dense", + "control_mode": "pd_joint_delta_pos", + "render_mode": "all", + "shader_dir": "minimal", + "robot_uids": "fetch", + "num_envs": 252, + "sim_backend": "gpu", + "require_build_configs_repeated_equally_across_envs": false, + "add_event_tracker_info": true, + "robot_force_mult": 0.001, + "robot_force_penalty_min": 0.2, + "target_randomization": false, + "scene_builder_cls": "ReplicaCADPrepareGroceriesTrain" + }, + "max_episode_steps": 200 + }, + "commit_info": { + "commit_id": "17121e3f96e3ee3ed0c03610b17f8bc2864617af", + "branch": "mshab" + }, + "episodes": [ + { + "episode_id": 0, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 4, + "init_config_idx": 39, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [15, "grasped", null], [32, "success", null], [39, "lost_success", null], [40, "success", null], [42, "lost_success", null], [43, "success", null], [52, "lost_success", null], [54, "success", null], [92, "lost_success", null], [93, "success", null], [182, "lost_success", null], [184, "success", null], [185, "lost_success", null], [186, "success", null], [187, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 1, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 19, + "init_config_idx": 5, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 67, 68], "collision", [85.77, 25.62, 38.68, 24.29, 31.04, 34.89, 46.42, 51.43, 42.07, 47.63, 52.47, 40.11, 44.64, 37.36, 39.6, 36.46]], [69, "lost_success", null], [[69, 70, 71], "collision", [38.24, 30.92, 16.26]], [72, "success", null], [[72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117], "collision", [24.82, 18.34, 18.76, 25.65, 36.9, 18.47, 49.78, 46.13, 83.24, 91.17, 102.27, 71.37, 58.37, 66.19, 79.23, 117.01, 88.22, 67.35, 87.66, 52.92, 56.15, 62.59, 59.26, 47.07, 38.26, 35.21, 59.81, 50.09, 42.13, 47.76, 60.33, 56.11, 78.19, 56.0, 44.76, 36.41, 23.78, 23.63, 31.23, 39.4, 43.22, 23.5, 13.92, 33.46, 27.8, 44.77]], [118, "lost_success", null], [[118], "collision", [26.15]], [119, "success", null], [[119, 120, 122], "collision", [29.26, 28.82, 10.06]], [123, "lost_success", null], [[123, 126], "collision", [0.03, 31.3]], [130, "success", null], [145, "lost_success", null], [151, "success", null], [163, "lost_success", null], [164, "success", null], [192, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 2, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 39, + "init_config_idx": 29, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 13, 14, 15, 16, 17, 18], "collision", [402.4, 254.07, 90.06, 917.36, 555.1, 504.99, 752.86, 522.12, 468.9]], [19, "contact", null], [19, "grasped", null], [35, "success", null], [41, "lost_success", null], [46, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [84, "success", null], [85, "lost_success", null], [86, "success", null], [88, "lost_success", null], [89, "success", null], [100, "lost_success", null], [109, "success", null], [118, "lost_success", null], [123, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 3, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 15, + "init_config_idx": 13, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [10, "grasped", null], [20, "success", null], [22, "lost_success", null], [41, "success", null], [52, "lost_success", null], [53, "success", null], [63, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [76, "success", null], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [93, "success", null], [94, "lost_success", null], [101, "success", null], [103, "lost_success", null], [110, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 4, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 2, + "init_config_idx": 11, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [254.53]], [20, "contact", null], [22, "lost_contact", null], [24, "contact", null], [24, "grasped", null], [44, "success", null], [45, "lost_success", null], [48, "success", null], [51, "lost_success", null], [52, "success", null], [54, "lost_success", null], [60, "success", null], [63, "lost_success", null], [92, "success", null], [94, "lost_success", null], [96, "success", null], [144, "lost_success", null], [148, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 5, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 36, + "init_config_idx": 27, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [23, "success", null], [29, "lost_success", null], [30, "success", null], [43, "lost_success", null], [[43, 44, 45, 46, 47, 48, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "collision", [273.53, 116.83, 36.87, 32.47, 36.18, 28.32, 108.28, 51.71, 79.88, 86.78, 17.57, 34.65, 27.48, 47.07, 60.05, 10.34, 22.02]], [63, "success", null], [[63, 64, 66], "collision", [12.4, 36.52, 20.58]], [67, "lost_success", null], [[67], "collision", [60.15]], [84, "success", null], [95, "lost_success", null], [100, "success", null], [121, "lost_success", null], [123, "success", null], [125, "lost_success", null], [128, "success", null], [133, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 6, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 43, + "init_config_idx": 20, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [[23, 24], "collision", [1.98, 1.12]], [25, "grasped", null], [47, "success", null], [59, "lost_success", null], [62, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113], "collision", [67.32, 84.15, 70.16, 32.83, 64.46, 70.75, 49.12, 32.69, 51.13, 22.77, 39.46, 41.77, 40.1, 36.78, 37.62, 36.03, 33.96, 30.69, 34.42, 34.81, 37.42, 36.75, 42.86, 38.82, 42.21, 35.59, 35.9, 30.24, 31.47, 24.44, 18.96, 18.38, 17.1, 21.49, 19.32, 32.3, 38.75]], [114, "lost_success", null], [[114], "collision", [199.49]], [115, "success", null], [[115, 116, 117, 119, 120], "collision", [29.41, 48.04, 34.36, 18.79, 24.29]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 7, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 28, + "init_config_idx": 37, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[7, "contact", null], [8, "lost_contact", null], [13, "contact", null], [14, "lost_contact", null], [18, "contact", null], [18, "grasped", null], [33, "success", null], [38, "lost_success", null], [39, "success", null], [40, "lost_success", null], [44, "success", null], [45, "lost_success", null], [47, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [55, "success", null], [63, "lost_success", null], [64, "success", null], [66, "lost_success", null], [67, "success", null], [101, "lost_success", null], [[115, 116, 117], "collision", [212.49, 89.96, 22.1]], [118, "success", null], [120, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 8, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 8, + "init_config_idx": 1, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 7], "collision", [338.41, 39.04, 990.52]], [11, "contact", null], [12, "grasped", null], [25, "success", null], [29, "lost_success", null], [[31, 32], "collision", [424.96, 34.05]], [33, "success", null], [[33], "collision", [84.2]], [34, "lost_success", null], [[34, 35], "collision", [79.5, 93.88]], [36, "success", null], [[36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50], "collision", [79.63, 75.51, 70.36, 92.8, 69.83, 66.92, 50.61, 35.5, 34.75, 53.47, 54.82, 54.02, 52.7, 68.03, 48.54]], [51, "lost_success", null], [[51, 52, 55, 56, 57, 58], "collision", [52.11, 4.81, 9.79, 44.56, 53.56, 47.72]], [64, "success", null], [94, "lost_success", null], [95, "success", null], [96, "lost_success", null], [98, "success", null], [103, "lost_success", null], [105, "success", null], [107, "lost_success", null], [108, "success", null], [114, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 9, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 21, + "init_config_idx": 36, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [115.53]], [15, "contact", null], [15, "grasped", null], [27, "success", null], [28, "lost_success", null], [29, "success", null], [38, "lost_success", null], [54, "success", null], [57, "lost_success", null], [59, "success", null], [60, "lost_success", null], [71, "success", null], [87, "lost_success", null], [88, "success", null], [102, "lost_success", null], [103, "success", null], [122, "lost_success", null], [152, "success", null], [154, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 10, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 6, + "init_config_idx": 13, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "lost_contact", null], [22, "contact", null], [23, "grasped", null], [[24], "collision", [0.21]], [41, "success", null], [68, "lost_success", null], [71, "success", null], [76, "lost_success", null], [93, "success", null], [96, "lost_success", null], [97, "success", null], [111, "lost_success", null], [112, "success", null], [126, "lost_success", null], [139, "success", null], [150, "lost_success", null], [160, "success", null], [179, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 11, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 11, + "init_config_idx": 31, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [38, "success", null], [48, "lost_success", null], [51, "success", null], [52, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [65, "lost_success", null], [76, "success", null], [80, "lost_success", null], [84, "success", null], [93, "lost_success", null], [94, "success", null], [98, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [107, "lost_success", null], [122, "success", null], [124, "lost_success", null], [128, "success", null], [167, "lost_success", null], [168, "success", null], [171, "lost_success", null], [175, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 12, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 3, + "init_config_idx": 14, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13], "collision", [1.47, 218.82, 223.95]], [16, "contact", null], [25, "lost_contact", null], [26, "contact", null], [29, "lost_contact", null], [67, "contact", null], [68, "grasped", null], [103, "success", null], [104, "lost_success", null], [106, "success", null], [114, "lost_success", null], [115, "success", null], [121, "lost_success", null], [[121], "collision", [66.86]], [122, "success", null], [[122, 123], "collision", [142.45, 64.65]], [124, "lost_success", null], [125, "success", null], [[125, 126, 127], "collision", [13.95, 66.96, 97.01]], [128, "lost_success", null], [[128], "collision", [84.92]], [129, "success", null], [[129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143], "collision", [159.17, 129.49, 176.07, 78.8, 65.92, 36.55, 34.32, 42.29, 49.81, 41.65, 28.35, 27.83, 26.13, 24.84, 27.04]], [146, "lost_success", null], [147, "success", null], [152, "lost_success", null], [153, "success", null], [173, "lost_success", null], [181, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 13, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 32, + "init_config_idx": 18, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 14, 15, 16, 17, 18, 19, 20], "collision", [233.51, 138.98, 90.65, 423.67, 158.79, 246.97, 233.04, 262.07, 320.93, 314.71]], [21, "contact", null], [[21], "collision", [220.37]], [22, "grasped", null], [60, "success", null], [75, "lost_success", null], [78, "success", null], [79, "lost_success", null], [81, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [111, "lost_success", null], [115, "success", null], [116, "lost_success", null], [119, "success", null], [139, "lost_success", null], [140, "success", null], [145, "lost_success", null], [146, "success", null], [147, "lost_success", null], [148, "success", null], [150, "lost_success", null], [151, "success", null], [153, "lost_success", null], [154, "success", null], [162, "lost_success", null], [164, "success", null], [172, "lost_success", null], [173, "success", null], [175, "lost_success", null], [176, "success", null], [184, "lost_success", null], [185, "success", null], [196, "lost_success", null], [197, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 14, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 35, + "init_config_idx": 27, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15, 16, 17, 18], "collision", [1097.28, 529.11, 358.95, 417.57, 466.31, 502.88]], [19, "contact", null], [[19], "collision", [660.47]], [20, "lost_contact", null], [22, "contact", null], [23, "grasped", null], [67, "success", null], [72, "lost_success", null], [80, "success", null], [84, "lost_success", null], [87, "success", null], [89, "lost_success", null], [90, "success", null], [91, "lost_success", null], [92, "success", null], [98, "lost_success", null], [107, "success", null], [111, "lost_success", null], [112, "success", null], [121, "lost_success", null], [136, "success", null], [137, "lost_success", null], [138, "success", null], [152, "lost_success", null], [180, "success", null], [184, "lost_success", null], [185, "success", null], [188, "lost_success", null], [189, "success", null], [191, "lost_success", null], [192, "success", null], [194, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 15, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 7, + "init_config_idx": 25, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [398.39, 317.75]], [16, "contact", null], [16, "grasped", null], [[19, 20, 21, 22, 23, 24], "collision", [57.68, 88.01, 72.1, 78.49, 62.77, 55.18]], [30, "success", null], [[31, 34], "collision", [546.84, 319.29]], [35, "lost_success", null], [[35], "collision", [60.42]], [36, "success", null], [[36, 38, 39, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [43.88, 79.07, 2.3, 21.68, 72.69, 108.41, 69.38, 54.74, 50.56, 47.36, 67.06, 27.88, 47.63, 37.94, 60.88, 19.61, 126.6]], [55, "lost_success", null], [[55], "collision", [176.07]], [56, "success", null], [[56, 57, 58, 59], "collision", [105.06, 60.53, 71.44, 82.3]], [60, "lost_success", null], [[60], "collision", [66.95]], [61, "success", null], [[61, 64], "collision", [41.62, 78.02]], [65, "lost_success", null], [[65, 66, 67, 68, 69, 70], "collision", [76.43, 73.46, 67.25, 17.32, 30.57, 29.22]], [71, "success", null], [83, "lost_success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 95], "collision", [21.53, 41.1, 60.54, 59.67, 54.93, 49.89, 32.35, 32.68, 5.82]], [96, "success", null], [[96, 97], "collision", [17.3, 7.48]], [99, "lost_success", null], [100, "success", null], [[100], "collision", [5.25]], [166, "lost_success", null], [171, "success", null], [189, "lost_success", null], [190, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 16, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 20, + "init_config_idx": 22, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [40, "success", null], [45, "lost_success", null], [47, "success", null], [52, "lost_success", null], [74, "success", null], [91, "lost_success", null], [108, "success", null], [116, "lost_success", null], [123, "success", null], [125, "lost_success", null], [128, "success", null], [131, "lost_success", null], [138, "success", null], [144, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 17, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 28, + "init_config_idx": 3, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [35, "success", null], [[35], "collision", [7.19]], [36, "lost_success", null], [[36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 60, 61, 62, 63, 64], "collision", [6.15, 6.58, 6.4, 5.9, 4.55, 6.4, 6.14, 5.83, 6.57, 6.04, 14.84, 15.34, 7.9, 14.31, 41.99]], [66, "success", null], [[66, 67, 68, 69, 70], "collision", [21.97, 54.54, 38.99, 1.45, 9.09]], [71, "lost_success", null], [[71], "collision", [14.0]], [72, "success", null], [[72, 73], "collision", [15.85, 14.96]], [74, "lost_success", null], [[74], "collision", [14.92]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [22.22, 20.93, 21.03, 16.29, 17.69, 13.55, 13.37, 13.27, 13.11, 10.18, 8.71, 12.85, 12.46, 13.58, 11.91, 12.73, 10.99, 12.52, 13.79, 12.77, 12.66, 12.19, 12.68, 14.12, 12.69, 10.93, 10.9, 12.68, 11.13, 7.98, 8.8, 8.17, 8.4, 7.82, 0.11, 11.61, 10.94, 8.91, 8.47, 7.91]], [125, "lost_success", null], [[129], "collision", [5.06]], [130, "success", null], [[130, 131], "collision", [5.84, 7.3]], [132, "lost_success", null], [[132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 150, 151], "collision", [7.49, 7.09, 6.32, 6.51, 5.69, 14.01, 13.82, 13.56, 155.83, 48.52, 42.79, 56.56, 45.57, 42.44, 60.26, 21.0, 15.1, 32.96, 25.78]], [152, "success", null], [155, "lost_success", null], [159, "success", null], [160, "lost_success", null], [163, "success", null], [164, "lost_success", null], [180, "success", null], [194, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 18, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 7, + "init_config_idx": 27, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 13, 14], "collision", [136.54, 138.89, 170.77, 152.77]], [22, "contact", null], [[23], "collision", [15.85]], [24, "grasped", null], [[24, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53], "collision", [7.06, 4.04, 6.87, 1.19, 0.16, 0.04, 0.03, 0.06, 0.06, 0.01, 0.1, 0.06, 0.12, 0.1, 0.06, 0.07, 0.03, 0.06, 0.05, 0.07, 0.07, 0.07, 0.05, 0.05, 0.06, 0.05, 0.05, 0.14, 0.09]], [54, "success", null], [[54, 55, 56, 57, 58, 59, 60, 61, 62, 63], "collision", [0.08, 0.09, 0.08, 0.11, 0.09, 0.09, 0.11, 0.12, 0.12, 0.12]], [64, "lost_success", null], [[64], "collision", [0.08]], [65, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [0.14, 0.12, 0.11, 0.1, 0.11, 0.11, 0.11, 0.12, 0.14, 0.09, 0.1, 0.1, 0.09]], [78, "lost_success", null], [[78], "collision", [0.08]], [79, "success", null], [[79, 80], "collision", [0.08, 0.18]], [81, "lost_success", null], [[81, 82], "collision", [0.14, 42.49]], [83, "success", null], [[83], "collision", [73.38]], [84, "lost_success", null], [[84, 85], "collision", [19.91, 5.98]], [86, "success", null], [[86, 87], "collision", [14.36, 0.24]], [88, "lost_success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 101, 102, 103, 104], "collision", [34.82, 0.19, 0.23, 0.17, 0.19, 0.15, 33.82, 0.16, 2.22, 0.08, 0.05, 0.03, 0.03, 0.03, 0.05, 0.02]], [105, "success", null], [[105], "collision", [0.03]], [106, "lost_success", null], [[106, 107, 108, 109, 110], "collision", [0.03, 0.04, 0.03, 0.03, 0.03]], [111, "success", null], [[111], "collision", [0.06]], [112, "lost_success", null], [[112], "collision", [0.03]], [113, "success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 131], "collision", [0.04, 0.07, 0.04, 0.03, 0.03, 0.06, 0.03, 0.04, 0.04, 0.04, 0.04, 0.04, 0.07, 0.04, 0.03, 0.03, 0.04, 27.69]], [132, "lost_success", null], [[132, 133, 134, 135, 136], "collision", [0.01, 0.01, 0.02, 0.03, 0.02]], [137, "success", null], [[137, 138, 139], "collision", [0.09, 0.04, 0.03]], [140, "lost_success", null], [[140, 141, 142], "collision", [0.05, 0.04, 0.04]], [143, "success", null], [[143, 144, 145, 146], "collision", [0.08, 0.05, 0.05, 0.06]], [147, "lost_success", null], [[147], "collision", [0.07]], [148, "success", null], [[148, 149], "collision", [0.06, 0.06]], [150, "lost_success", null], [[150], "collision", [0.07]], [151, "success", null], [[151, 152, 153, 154, 155, 156, 157, 158, 159], "collision", [0.08, 0.09, 0.08, 0.09, 0.1, 0.12, 0.12, 0.14, 0.12]], [160, "lost_success", null], [[160], "collision", [0.16]], [161, "success", null], [[161, 162, 163, 164, 165, 166, 167, 168, 169, 170], "collision", [0.11, 0.16, 0.21, 0.13, 0.12, 0.13, 0.11, 0.13, 0.12, 0.08]], [171, "lost_success", null], [[171, 172, 173, 174, 175, 176, 177, 178, 179], "collision", [0.08, 0.09, 0.09, 0.09, 0.11, 0.1, 0.09, 0.17, 0.11]], [180, "success", null], [[180, 181, 182, 183, 184, 185, 186, 187, 188], "collision", [0.11, 0.13, 0.11, 0.12, 0.13, 0.13, 0.19, 0.15, 0.15]], [189, "lost_success", null], [[189, 190, 191, 192, 193], "collision", [0.17, 0.26, 0.16, 0.18, 0.12]], [194, "success", null], [[194, 195, 196], "collision", [0.15, 0.12, 0.15]], [197, "lost_success", null], [[197, 198, 199], "collision", [0.16, 0.22, 0.16]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 19, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 33, + "init_config_idx": 13, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[31, 32, 33, 34, 35, 36], "collision", [171.46, 89.99, 89.73, 98.58, 102.33, 86.3]], [45, "success", null], [84, "lost_success", null], [95, "success", null], [122, "lost_success", null], [158, "success", null], [174, "lost_success", null], [187, "success", null], [188, "lost_success", null], [189, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 20, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 35, + "init_config_idx": 23, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "collision", [183.39, 167.86, 424.76, 52.96, 0.0, 9.63, 5.04, 52.88, 95.0, 39.6, 119.43, 119.96, 36.98]], [37, "contact", null], [38, "grasped", null], [[38, 41, 42, 43, 44, 45, 46, 55, 56, 57, 58, 59, 60], "collision", [60.0, 149.98, 20.16, 170.27, 110.05, 109.53, 154.63, 3.63, 0.35, 0.84, 1.28, 0.6, 1.85]], [61, "success", null], [[61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71], "collision", [1.97, 12.1, 0.97, 1.07, 0.95, 0.96, 2.49, 2.45, 2.26, 2.31, 1.12]], [72, "lost_success", null], [[72, 73, 74], "collision", [1.99, 2.18, 0.44]], [75, "success", null], [[75, 76], "collision", [0.5, 0.55]], [77, "lost_success", null], [[77, 78], "collision", [0.5, 1.65]], [79, "success", null], [[79, 80], "collision", [0.56, 1.63]], [81, "lost_success", null], [[81], "collision", [0.66]], [82, "success", null], [[82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95], "collision", [0.66, 1.88, 2.09, 0.84, 0.5, 0.74, 0.67, 0.69, 0.62, 0.67, 0.8, 0.65, 0.48, 0.64]], [96, "lost_success", null], [[96], "collision", [0.73]], [97, "success", null], [[97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132], "collision", [0.55, 1.92, 0.58, 0.63, 1.91, 2.0, 0.85, 1.99, 0.97, 1.02, 0.99, 1.99, 0.99, 1.03, 2.04, 2.0, 2.02, 1.07, 1.03, 1.99, 1.04, 2.38, 1.41, 0.96, 1.1, 1.98, 1.02, 1.14, 1.11, 0.96, 0.85, 0.88, 2.02, 2.05, 0.88, 2.0]], [133, "lost_success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 141], "collision", [1.99, 0.82, 0.95, 2.01, 0.82, 1.03, 0.75, 0.7, 0.76]], [142, "success", null], [[142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184], "collision", [0.83, 0.79, 1.89, 0.87, 0.83, 2.23, 2.16, 0.87, 0.77, 0.87, 0.84, 0.88, 1.95, 1.92, 0.98, 2.36, 1.24, 1.13, 1.12, 1.27, 2.27, 1.31, 1.97, 0.96, 0.92, 2.03, 0.96, 2.01, 0.87, 1.64, 1.77, 1.76, 1.66, 1.98, 2.16, 1.0, 0.95, 1.15, 2.03, 1.01, 0.93, 0.95, 2.53]], [185, "lost_success", null], [[185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [2.44, 1.15, 2.0, 1.66, 1.76, 1.89, 0.75, 1.94, 2.05, 0.99, 2.02, 0.84, 1.96, 1.92, 1.99]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 21, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 41, + "init_config_idx": 27, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [26, "lost_contact", null], [[27], "collision", [11.58]], [34, "contact", null], [37, "lost_contact", null], [46, "contact", null], [51, "lost_contact", null], [69, "contact", null], [70, "grasped", null], [[71, 73, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113], "collision", [59.56, 59.36, 0.24, 0.2, 0.36, 0.68, 0.23, 118.56, 123.05, 145.49, 134.62, 143.25, 0.01, 1.96, 1.55, 2.08, 1.31, 1.14, 1.76, 356.88, 2.95, 1.49, 2.32, 48.95, 106.09, 55.61, 1.46, 3.01, 1.5, 1.63, 1.65, 1.51, 1.57, 3.01, 1.73, 1.42, 2.74, 1.3, 0.38, 1.04, 0.94]], [119, "success", null], [152, "lost_success", null], [155, "success", null], [[158, 159], "collision", [0.91, 0.04]], [162, "lost_success", null], [164, "success", null], [171, "lost_success", null], [172, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 22, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 41, + "init_config_idx": 27, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [149, "success", null], [154, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 23, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 9, + "init_config_idx": 25, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [22, "success", null], [28, "lost_success", null], [39, "success", null], [41, "lost_success", null], [43, "success", null], [58, "lost_success", null], [68, "success", null], [[85, 86, 87, 88, 89, 90, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102], "collision", [39.62, 19.57, 25.34, 18.33, 18.79, 18.1, 20.59, 22.91, 22.66, 20.76, 20.78, 19.78, 19.93, 18.41, 21.15, 22.35, 16.77]], [103, "lost_success", null], [[103, 104], "collision", [19.19, 4.37]], [105, "success", null], [[105, 106, 113, 114, 115, 116, 117, 118, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129], "collision", [20.81, 6.55, 15.77, 16.25, 20.24, 16.78, 18.11, 10.36, 17.8, 16.32, 16.56, 13.34, 18.85, 18.31, 24.6, 23.26, 19.87, 16.34]], [133, "lost_success", null], [134, "success", null], [136, "lost_success", null], [144, "success", null], [145, "lost_success", null], [153, "success", null], [154, "lost_success", null], [159, "success", null], [174, "lost_success", null], [175, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 24, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 12, + "init_config_idx": 34, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [47, "success", null], [50, "lost_success", null], [[79, 80, 81, 82], "collision", [136.57, 39.69, 44.86, 46.42]], [83, "success", null], [[83], "collision", [35.29]], [84, "lost_success", null], [[84], "collision", [29.09]], [85, "success", null], [[85, 86, 87, 88], "collision", [21.08, 20.37, 27.54, 31.13]], [89, "lost_success", null], [90, "success", null], [[90, 91, 93, 94], "collision", [29.55, 47.36, 29.83, 43.93]], [95, "lost_success", null], [[95, 96, 97, 98, 99, 100, 101], "collision", [60.09, 57.9, 43.1, 41.91, 29.04, 27.96, 33.15]], [102, "success", null], [[102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [37.86, 42.43, 35.39, 36.88, 38.34, 46.58, 39.05, 39.44, 31.62]], [111, "lost_success", null], [[111, 112, 113, 114, 115, 116, 117, 118, 119, 120], "collision", [37.76, 18.29, 13.68, 28.49, 40.47, 36.22, 45.77, 38.82, 54.2, 32.28]], [121, "success", null], [[121, 122, 123, 124, 126], "collision", [25.78, 28.1, 24.74, 13.14, 6.19]], [128, "lost_success", null], [129, "success", null], [130, "lost_success", null], [132, "success", null], [133, "lost_success", null], [[133], "collision", [13.23]], [134, "success", null], [[134, 135, 136, 137], "collision", [48.29, 25.14, 19.5, 9.71]], [142, "lost_success", null], [146, "success", null], [147, "lost_success", null], [148, "success", null], [149, "lost_success", null], [150, "success", null], [160, "lost_success", null], [178, "success", null], [179, "lost_success", null], [180, "success", null], [187, "lost_success", null], [196, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 25, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 47, + "init_config_idx": 18, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[26], "collision", [13.56]], [42, "success", null], [45, "lost_success", null], [51, "success", null], [55, "lost_success", null], [56, "success", null], [[58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [56.61, 107.77, 99.06, 94.69, 63.31, 61.17, 57.39, 105.77, 117.56, 117.03, 140.18, 133.45, 111.81, 117.4, 110.93, 54.96, 45.39, 32.25, 138.15, 128.75, 109.28, 110.49, 127.97, 132.34, 94.69, 100.27, 116.03, 126.93, 123.51, 18.82, 44.27, 45.43, 38.62, 84.17, 45.23, 104.81, 111.54, 107.44, 110.61, 95.08, 71.4, 22.12, 68.73]], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [108, "success", null], [[108, 109, 110], "collision", [9.0, 70.43, 31.33]], [111, "lost_success", null], [117, "success", null], [125, "lost_success", null], [126, "success", null], [[128], "collision", [34.58]], [129, "lost_success", null], [132, "success", null], [145, "lost_success", null], [148, "success", null], [153, "lost_success", null], [165, "success", null], [180, "lost_success", null], [181, "success", null], [184, "lost_success", null], [189, "success", null], [190, "lost_success", null], [191, "success", null], [192, "lost_success", null], [193, "success", null], [195, "lost_success", null], [197, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 26, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 1, + "init_config_idx": 36, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16, 17], "collision", [781.68, 1199.21, 94.81]], [19, "contact", null], [[19], "collision", [0.14]], [21, "grasped", null], [69, "success", null], [83, "lost_success", null], [84, "success", null], [88, "lost_success", null], [145, "success", null], [169, "lost_success", null], [170, "success", null], [175, "lost_success", null], [176, "success", null], [185, "lost_success", null], [186, "success", null], [194, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 27, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 21, + "init_config_idx": 37, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14], "collision", [410.01, 150.7, 317.37]], [15, "contact", null], [[15], "collision", [1383.31]], [17, "grasped", null], [31, "success", null], [103, "lost_success", null], [106, "success", null], [108, "lost_success", null], [109, "success", null], [111, "lost_success", null], [116, "success", null], [121, "lost_success", null], [137, "success", null], [138, "lost_success", null], [141, "success", null], [142, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 28, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 2, + "init_config_idx": 21, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [47, "success", null], [60, "lost_success", null], [64, "success", null], [74, "lost_success", null], [79, "success", null], [85, "lost_success", null], [89, "success", null], [97, "lost_success", null], [98, "success", null], [110, "lost_success", null], [111, "success", null], [113, "lost_success", null], [115, "success", null], [121, "lost_success", null], [124, "success", null], [142, "lost_success", null], [143, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [168, "lost_success", null], [169, "success", null], [175, "lost_success", null], [178, "success", null], [185, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 29, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 42, + "init_config_idx": 50, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [48, "success", null], [50, "lost_success", null], [51, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 30, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 6, + "init_config_idx": 29, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [[26, 27, 28, 29], "collision", [105.92, 107.07, 98.22, 35.61]], [34, "success", null], [36, "lost_success", null], [37, "success", null], [55, "lost_success", null], [57, "success", null], [59, "lost_success", null], [60, "success", null], [82, "lost_success", null], [83, "success", null], [84, "lost_success", null], [95, "success", null], [100, "lost_success", null], [106, "success", null], [143, "lost_success", null], [167, "success", null], [178, "lost_success", null], [183, "success", null], [190, "lost_success", null], [198, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 31, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 50, + "init_config_idx": 1, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [10, "lost_contact", null], [11, "contact", null], [12, "lost_contact", null], [16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [18, "grasped", null], [[68], "collision", [9.48]], [69, "success", null], [[69, 70, 71, 72, 73, 74, 75, 76], "collision", [7.68, 7.52, 7.26, 7.94, 9.14, 8.96, 8.12, 8.59]], [77, "lost_success", null], [[77, 78, 79], "collision", [7.7, 7.23, 7.7]], [80, "success", null], [[80, 81, 82, 83, 84, 85], "collision", [6.82, 6.02, 6.35, 7.66, 7.39, 6.64]], [86, "lost_success", null], [[86, 87], "collision", [7.85, 5.89]], [88, "success", null], [[88], "collision", [5.9]], [89, "lost_success", null], [[89, 90], "collision", [21.49, 13.76]], [91, "success", null], [[91], "collision", [12.41]], [92, "lost_success", null], [[92, 93, 94, 96], "collision", [13.12, 40.95, 38.97, 17.17]], [97, "success", null], [[97, 98, 100, 101, 102, 103, 104], "collision", [8.07, 34.77, 11.06, 13.45, 13.22, 12.59, 10.09]], [106, "lost_success", null], [107, "success", null], [108, "lost_success", null], [111, "success", null], [112, "lost_success", null], [113, "success", null], [114, "lost_success", null], [122, "success", null], [124, "lost_success", null], [133, "success", null], [134, "lost_success", null], [135, "success", null], [137, "lost_success", null], [153, "success", null], [162, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 32, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 15, + "init_config_idx": 19, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [[21], "collision", [2.5]], [22, "grasped", null], [[32, 33, 34, 35, 36, 37, 38, 39, 40], "collision", [47.18, 73.02, 88.57, 90.14, 96.15, 107.23, 118.38, 40.52, 91.36]], [46, "success", null], [47, "lost_success", null], [53, "success", null], [56, "lost_success", null], [63, "success", null], [78, "lost_success", null], [[104, 112, 113, 114, 115, 116, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 130, 131, 132, 133, 134, 135], "collision", [121.34, 7.0, 10.49, 8.21, 8.42, 10.18, 1320.14, 199.91, 87.88, 7.59, 9.67, 8.25, 22.34, 7.59, 7.55, 5.92, 5.16, 7.45, 5.76, 5.99, 4.85, 7.83, 6.43]], [136, "success", null], [145, "lost_success", null], [148, "success", null], [153, "lost_success", null], [154, "success", null], [162, "lost_success", null], [164, "success", null], [165, "lost_success", null], [166, "success", null], [167, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 33, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 4, + "init_config_idx": 36, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [31, "success", null], [46, "lost_success", null], [47, "success", null], [52, "lost_success", null], [[58], "collision", [4.03]], [59, "success", null], [[59, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 85, 87], "collision", [218.0, 155.9, 122.81, 139.91, 159.64, 169.98, 147.76, 154.84, 155.37, 182.16, 143.71, 134.26, 114.91, 102.75, 116.1, 79.08, 42.8, 6.75, 18.46, 3.82, 26.78]], [103, "lost_success", null], [116, "success", null], [144, "lost_success", null], [145, "success", null], [146, "lost_success", null], [147, "success", null], [149, "lost_success", null], [161, "success", null], [174, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 34, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 18, + "init_config_idx": 34, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[35, 36, 37, 38, 39], "collision", [51.84, 67.65, 81.01, 86.61, 84.05]], [46, "success", null], [67, "lost_success", null], [82, "success", null], [87, "lost_success", null], [90, "success", null], [93, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 35, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 40, + "init_config_idx": 16, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14, 21], "collision", [172.9, 952.27, 1.0]], [22, "contact", null], [22, "grasped", null], [[24], "collision", [28.93]], [51, "success", null], [52, "lost_success", null], [56, "success", null], [93, "lost_success", null], [96, "success", null], [131, "lost_success", null], [136, "success", null], [137, "lost_success", null], [[138, 139], "collision", [271.45, 188.87]], [140, "success", null], [[140], "collision", [164.03]], [141, "lost_success", null], [[141, 142, 143, 144, 145, 146], "collision", [193.49, 152.44, 152.58, 141.97, 146.21, 128.48]], [147, "success", null], [[147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 162, 182, 183, 184, 185, 186], "collision", [126.09, 154.22, 157.36, 148.55, 140.18, 116.51, 99.57, 62.45, 52.48, 27.89, 62.65, 41.31, 0.99, 12.48, 27.03, 28.28, 21.73, 16.61, 5.04]], [191, "lost_success", null], [[192, 193], "collision", [1.88, 9.3]], [194, "success", null], [[194, 195], "collision", [27.35, 1.83]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 36, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 20, + "init_config_idx": 3, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [33, "success", null], [35, "lost_success", null], [40, "success", null], [52, "lost_success", null], [60, "success", null], [70, "lost_success", null], [81, "success", null], [87, "lost_success", null], [164, "success", null], [169, "lost_success", null], [176, "success", null], [177, "lost_success", null], [179, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 37, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 31, + "init_config_idx": 3, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41], "collision", [0.17, 0.67, 0.51, 0.57, 0.41, 0.43, 0.52, 0.61, 0.5, 128.22, 100.23, 97.14, 95.15, 122.38, 1.2, 1.22, 0.64, 0.61, 0.96, 0.96, 0.99, 0.94, 0.59, 0.46]], [42, "success", null], [[42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52], "collision", [0.32, 0.53, 0.2, 0.34, 0.25, 0.46, 0.28, 0.36, 0.6, 0.55, 0.65]], [53, "lost_success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75], "collision", [0.71, 0.6, 0.6, 0.48, 0.6, 0.48, 0.51, 0.63, 0.61, 0.31, 0.52, 0.52, 0.49, 0.36, 0.36, 0.39, 31.54, 28.66, 24.85, 24.26, 25.18, 0.24, 29.59]], [76, "success", null], [[76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [39.24, 30.4, 33.97, 42.89, 42.99, 49.41, 39.42, 43.29, 48.35, 49.54, 47.02, 47.85, 53.28, 47.1, 44.18, 45.09, 44.4, 42.05, 36.43, 39.9, 36.53, 39.46, 35.62, 36.4, 37.17, 34.86, 27.47, 18.36, 0.58, 0.55]], [106, "lost_success", null], [[106], "collision", [0.63]], [107, "success", null], [[107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138], "collision", [0.52, 0.32, 0.39, 0.49, 0.31, 0.48, 0.61, 0.57, 0.52, 0.43, 0.54, 0.67, 0.67, 0.69, 0.72, 0.72, 0.65, 0.67, 0.8, 0.77, 0.54, 0.71, 0.68, 0.64, 0.63, 0.97, 0.68, 0.59, 0.63, 0.76, 0.63, 0.59]], [139, "lost_success", null], [[139], "collision", [0.63]], [140, "success", null], [[140, 141, 142, 143, 144, 145], "collision", [0.61, 0.52, 0.45, 0.63, 0.81, 0.46]], [146, "lost_success", null], [[146], "collision", [0.56]], [147, "success", null], [[147], "collision", [0.47]], [148, "lost_success", null], [[148, 149, 150, 151, 152, 153, 154], "collision", [0.59, 0.62, 0.84, 0.96, 0.62, 0.61, 0.78]], [155, "success", null], [[155, 156, 157, 158], "collision", [0.99, 0.79, 0.8, 0.7]], [159, "lost_success", null], [[159], "collision", [0.73]], [160, "success", null], [[160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [0.75, 0.87, 0.91, 0.67, 0.69, 0.73, 0.82, 0.87, 0.62, 0.62]], [170, "lost_success", null], [[170], "collision", [0.82]], [171, "success", null], [[171], "collision", [0.69]], [172, "lost_success", null], [[172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185], "collision", [0.69, 0.57, 0.68, 0.81, 0.67, 0.69, 0.61, 0.6, 0.83, 0.85, 0.83, 1.07, 0.74, 0.75]], [186, "success", null], [[186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196], "collision", [1.01, 0.67, 0.77, 0.67, 0.67, 0.62, 0.73, 0.92, 0.54, 0.65, 0.65]], [197, "lost_success", null], [[197, 198, 199], "collision", [0.75, 0.74, 0.94]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 38, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 7, + "init_config_idx": 3, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [10, "grasped", null], [[12], "collision", [772.91]], [28, "success", null], [29, "lost_success", null], [30, "success", null], [32, "lost_success", null], [34, "success", null], [35, "lost_success", null], [36, "success", null], [40, "lost_success", null], [41, "success", null], [58, "lost_success", null], [59, "success", null], [60, "lost_success", null], [71, "success", null], [[110, 111, 112, 113], "collision", [146.36, 39.15, 25.91, 12.12]], [114, "lost_success", null], [[114], "collision", [5.93]], [115, "success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125], "collision", [0.38, 1.68, 4.93, 5.69, 3.2, 2.23, 1.61, 1.71, 7.85, 4.24, 1.48]], [130, "lost_success", null], [131, "success", null], [[135, 136, 137, 138, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163], "collision", [33.41, 29.6, 15.93, 40.31, 11.02, 36.9, 36.09, 29.07, 37.57, 43.92, 34.18, 20.66, 27.8, 38.99, 19.3, 7.8, 18.9, 30.62, 24.51, 44.29, 41.44, 47.28, 33.62]], [164, "lost_success", null], [[164], "collision", [4.62]], [168, "success", null], [[174], "collision", [22.72]], [177, "lost_success", null], [[177], "collision", [9.72]], [178, "success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [18.45, 22.12, 33.36, 39.99, 31.37, 32.84, 28.74, 39.53, 28.18, 25.43, 22.14, 20.56, 31.92, 43.62, 45.99, 42.71, 37.55, 41.58, 43.52, 39.41, 42.49, 39.15]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 39, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 42, + "init_config_idx": 32, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 8, 10, 11, 12, 13, 14, 15], "collision", [420.17, 1622.38, 298.92, 215.14, 167.81, 156.94, 153.11, 150.38]], [20, "contact", null], [[21], "collision", [11.63]], [22, "grasped", null], [[22], "collision", [1.5]], [46, "success", null], [48, "lost_success", null], [49, "success", null], [[55, 56, 57, 58, 59, 60, 61, 62], "collision", [46.79, 59.93, 54.35, 40.49, 47.0, 51.21, 59.25, 62.29]], [63, "lost_success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75], "collision", [61.65, 66.42, 54.99, 63.73, 63.41, 65.62, 68.25, 42.26, 30.78, 29.35, 29.99, 37.8, 35.09]], [76, "success", null], [77, "lost_success", null], [[77], "collision", [43.75]], [79, "success", null], [[88], "collision", [9.64]], [90, "lost_success", null], [91, "success", null], [[91], "collision", [15.21]], [93, "lost_success", null], [105, "success", null], [124, "lost_success", null], [137, "success", null], [187, "lost_success", null], [190, "success", null], [191, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 40, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 13, + "init_config_idx": 37, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [639.92]], [26, "contact", null], [[26], "collision", [199.83]], [28, "grasped", null], [[32], "collision", [65.84]], [54, "success", null], [[59, 60, 61, 62, 63, 64, 65, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [22.1, 74.55, 73.54, 97.63, 108.37, 86.36, 89.55, 41.63, 73.69, 79.76, 51.33, 59.85, 58.35, 82.14, 72.61, 95.71, 54.11]], [77, "lost_success", null], [78, "success", null], [79, "lost_success", null], [81, "success", null], [82, "lost_success", null], [[82, 83], "collision", [56.04, 41.77]], [106, "success", null], [110, "lost_success", null], [111, "success", null], [112, "lost_success", null], [120, "success", null], [134, "lost_success", null], [136, "success", null], [137, "lost_success", null], [139, "success", null], [185, "lost_success", null], [187, "success", null], [188, "lost_success", null], [189, "success", null], [190, "lost_success", null], [193, "success", null], [194, "lost_success", null], [195, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 41, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 1, + "init_config_idx": 4, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17], "collision", [126.34, 110.68]], [21, "contact", null], [27, "lost_contact", null], [32, "contact", null], [34, "lost_contact", null], [35, "contact", null], [[37], "collision", [3.0]], [38, "lost_contact", null], [[43, 44], "collision", [575.5, 157.86]], [49, "contact", null], [49, "grasped", null], [[50, 51], "collision", [0.79, 3.9]], [71, "success", null], [76, "lost_success", null], [78, "success", null], [81, "lost_success", null], [83, "success", null], [[85, 87], "collision", [7.45, 11.85]], [88, "lost_success", null], [[88], "collision", [44.19]], [89, "success", null], [[89, 90, 91, 92, 93, 94], "collision", [44.43, 26.98, 38.95, 36.96, 52.86, 47.13]], [95, "lost_success", null], [[96, 97], "collision", [16.33, 5.51]], [106, "success", null], [110, "lost_success", null], [130, "success", null], [132, "lost_success", null], [[132, 133, 134, 135, 136, 137, 138], "collision", [77.11, 68.68, 31.12, 33.96, 31.11, 37.26, 44.76]], [139, "success", null], [[139, 140, 141, 142], "collision", [54.45, 65.34, 57.91, 57.9]], [143, "lost_success", null], [[143, 144, 145, 146, 147], "collision", [54.28, 45.2, 46.58, 30.22, 28.2]], [148, "success", null], [[148, 149, 150, 151, 152, 153], "collision", [39.71, 58.13, 47.15, 45.06, 71.07, 70.35]], [154, "lost_success", null], [[154, 155, 156, 157, 158], "collision", [77.91, 99.14, 73.57, 95.13, 95.52]], [159, "success", null], [[159], "collision", [108.21]], [160, "lost_success", null], [[160], "collision", [120.24]], [161, "success", null], [[161, 163, 164, 165, 166, 167], "collision", [134.95, 49.74, 69.7, 41.07, 64.37, 78.62]], [168, "lost_success", null], [[168], "collision", [39.23]], [169, "success", null], [[169, 170, 171], "collision", [46.49, 21.04, 25.66]], [172, "lost_success", null], [[172, 173, 174, 175, 176], "collision", [42.97, 64.25, 50.64, 68.03, 50.15]], [177, "success", null], [[177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 195, 196, 197, 198, 199], "collision", [41.23, 38.98, 44.37, 53.66, 64.46, 58.37, 55.77, 40.32, 52.49, 37.63, 46.89, 46.68, 34.16, 29.36, 26.02, 25.44, 26.1, 25.3, 42.23, 46.67, 37.73, 23.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 42, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 25, + "init_config_idx": 5, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8], "collision", [620.22, 248.25, 235.66, 209.44, 230.01]], [9, "contact", null], [10, "lost_contact", null], [11, "contact", null], [11, "grasped", null], [[13], "collision", [281.95]], [23, "success", null], [28, "lost_success", null], [30, "success", null], [32, "lost_success", null], [33, "success", null], [47, "lost_success", null], [51, "success", null], [54, "lost_success", null], [55, "success", null], [71, "lost_success", null], [75, "success", null], [94, "lost_success", null], [96, "success", null], [110, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 43, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 38, + "init_config_idx": 4, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [88.24, 54.98]], [12, "contact", null], [13, "grasped", null], [[23, 24, 25, 26, 27, 28], "collision", [89.28, 110.74, 121.39, 116.09, 109.23, 98.77]], [35, "success", null], [[52], "collision", [134.41]], [53, "lost_success", null], [[53, 54], "collision", [123.27, 180.06]], [55, "success", null], [[55, 56, 67, 68, 69], "collision", [80.09, 74.93, 14.35, 98.37, 28.52]], [102, "lost_success", null], [103, "success", null], [110, "lost_success", null], [[113], "collision", [35.68]], [135, "success", null], [[150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163], "collision", [13.27, 8.85, 7.87, 6.13, 8.87, 9.05, 9.27, 6.43, 8.97, 6.2, 8.16, 6.53, 9.4, 7.69]], [164, "lost_success", null], [[164], "collision", [6.56]], [165, "success", null], [[165, 166, 167, 168, 169, 170, 171, 172], "collision", [8.32, 7.01, 7.74, 6.6, 7.51, 6.33, 8.22, 7.42]], [182, "lost_success", null], [183, "success", null], [184, "lost_success", null], [185, "success", null], [192, "lost_success", null], [193, "success", null], [[195], "collision", [2.81]], [197, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 44, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 23, + "init_config_idx": 9, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [58.62, 57.49]], [15, "contact", null], [16, "grasped", null], [30, "success", null], [39, "lost_success", null], [43, "success", null], [51, "lost_success", null], [52, "success", null], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [63, "success", null], [92, "lost_success", null], [93, "success", null], [94, "lost_success", null], [95, "success", null], [[97, 98, 100, 101, 102], "collision", [31.65, 24.96, 22.87, 34.74, 10.74]], [105, "lost_success", null], [106, "success", null], [114, "lost_success", null], [115, "success", null], [127, "lost_success", null], [128, "success", null], [136, "lost_success", null], [137, "success", null], [[139, 140, 141, 142, 143, 144, 145, 147, 148, 149], "collision", [17.23, 16.05, 32.76, 24.52, 18.05, 14.47, 41.79, 31.56, 14.89, 8.0]], [163, "lost_success", null], [164, "success", null], [191, "lost_success", null], [192, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 45, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 39, + "init_config_idx": 20, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "lost_contact", null], [16, "contact", null], [16, "grasped", null], [29, "success", null], [37, "lost_success", null], [40, "success", null], [45, "lost_success", null], [46, "success", null], [56, "lost_success", null], [[56], "collision", [244.48]], [57, "success", null], [[57, 59, 60, 61, 62, 64, 65, 66, 67, 68, 69, 70, 71, 73], "collision", [37.79, 128.2, 118.63, 185.52, 22.22, 13.62, 135.84, 122.77, 132.15, 61.87, 151.15, 61.55, 58.53, 65.37]], [110, "lost_success", null], [118, "success", null], [119, "lost_success", null], [121, "success", null], [122, "lost_success", null], [123, "success", null], [125, "lost_success", null], [126, "success", null], [127, "lost_success", null], [128, "success", null], [133, "lost_success", null], [146, "success", null], [150, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 46, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 17, + "init_config_idx": 12, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[33, 34, 35, 36, 37, 38, 39], "collision", [73.95, 86.6, 91.92, 92.67, 108.74, 93.07, 93.63]], [45, "success", null], [56, "lost_success", null], [67, "success", null], [71, "lost_success", null], [72, "success", null], [78, "lost_success", null], [84, "success", null], [86, "lost_success", null], [104, "success", null], [118, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 47, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 27, + "init_config_idx": 34, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [2.6]], [14, "contact", null], [15, "grasped", null], [[19, 20, 21, 24], "collision", [178.74, 609.87, 358.16, 0.98]], [37, "success", null], [40, "lost_success", null], [[58, 59, 61, 62, 63], "collision", [0.67, 0.96, 1.58, 0.62, 1.51]], [64, "success", null], [[67, 68, 70, 71, 72, 73], "collision", [0.69, 1.55, 0.71, 0.82, 0.93, 1.46]], [74, "lost_success", null], [[74, 76, 78, 94, 95, 96], "collision", [1.1, 2.03, 1.49, 0.72, 1.13, 0.71]], [106, "success", null], [107, "lost_success", null], [108, "success", null], [116, "lost_success", null], [117, "success", null], [134, "lost_success", null], [135, "success", null], [138, "lost_success", null], [140, "success", null], [141, "lost_success", null], [146, "success", null], [149, "lost_success", null], [150, "success", null], [151, "lost_success", null], [152, "success", null], [155, "lost_success", null], [170, "success", null], [171, "lost_success", null], [184, "success", null], [185, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 48, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 54, + "init_config_idx": 25, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [50, "success", null], [58, "lost_success", null], [66, "success", null], [69, "lost_success", null], [72, "success", null], [93, "lost_success", null], [99, "success", null], [104, "lost_success", null], [108, "success", null], [[111], "collision", [8.3]], [112, "lost_success", null], [113, "success", null], [126, "lost_success", null], [127, "success", null], [136, "lost_success", null], [137, "success", null], [146, "lost_success", null], [149, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [154, "success", null], [156, "lost_success", null], [157, "success", null], [161, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 49, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 19, + "init_config_idx": 14, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [[32, 33, 34, 35, 36, 37, 38, 39, 40], "collision", [59.37, 89.57, 93.41, 96.12, 95.19, 106.95, 116.35, 112.55, 100.22]], [45, "success", null], [53, "lost_success", null], [55, "success", null], [[67, 68, 69, 70, 71], "collision", [88.54, 4.41, 79.79, 27.89, 55.26]], [74, "lost_success", null], [[74], "collision", [25.2]], [75, "success", null], [[75, 76, 77], "collision", [41.99, 48.29, 1.0]], [94, "lost_success", null], [102, "success", null], [120, "lost_success", null], [122, "success", null], [129, "lost_success", null], [132, "success", null], [[132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [31.29, 38.97, 39.84, 61.21, 48.34, 39.94, 34.68, 29.4, 26.68, 24.89, 24.95, 24.81, 22.52, 12.37, 18.52, 15.29, 11.27, 9.71, 13.83, 13.34, 8.52, 12.96, 15.55, 17.29, 19.97, 18.85, 14.95, 18.64, 23.74, 21.41, 18.67, 20.47, 22.91, 26.34, 27.63, 21.97, 19.9, 21.37, 20.22, 18.36, 17.93, 19.94, 16.31, 16.48, 14.11, 20.84, 23.68, 27.9, 23.55, 27.77, 26.99, 24.92, 29.45, 30.02, 35.38, 31.28, 35.47, 40.97, 25.84, 25.71, 29.25, 33.77, 32.91, 59.66, 95.12, 47.1, 93.59]], [199, "lost_success", null], [[199], "collision", [55.66]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 50, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 29, + "init_config_idx": 26, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [4951.27]], [10, "contact", null], [11, "grasped", null], [42, "success", null], [43, "lost_success", null], [45, "success", null], [46, "lost_success", null], [174, "success", null], [177, "lost_success", null], [180, "success", null], [181, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 51, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 31, + "init_config_idx": 6, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [25, "lost_contact", null], [26, "contact", null], [26, "grasped", null], [52, "success", null], [54, "lost_success", null], [63, "success", null], [143, "lost_success", null], [149, "success", null], [162, "lost_success", null], [165, "success", null], [170, "lost_success", null], [191, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 52, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 4, + "init_config_idx": 30, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [234.59]], [20, "contact", null], [21, "grasped", null], [[27], "collision", [75.23]], [39, "success", null], [40, "lost_success", null], [41, "success", null], [72, "lost_success", null], [73, "success", null], [98, "lost_success", null], [102, "success", null], [110, "lost_success", null], [112, "success", null], [113, "lost_success", null], [114, "success", null], [138, "lost_success", null], [158, "success", null], [169, "lost_success", null], [170, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 53, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 36, + "init_config_idx": 3, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [18, "grasped", null], [[109, 119, 127], "collision", [352.85, 23.87, 7.92]], [134, "success", null], [[134], "collision", [371.32]], [138, "lost_success", null], [158, "success", null], [159, "lost_success", null], [162, "success", null], [163, "lost_success", null], [168, "success", null], [171, "lost_success", null], [194, "success", null], [[198], "collision", [1290.27]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 54, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 8, + "init_config_idx": 43, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[37], "collision", [41.9]], [46, "success", null], [58, "lost_success", null], [62, "success", null], [69, "lost_success", null], [92, "success", null], [106, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 55, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 10, + "init_config_idx": 1, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[34, 35], "collision", [55.14, 67.31]], [45, "success", null], [53, "lost_success", null], [68, "success", null], [72, "lost_success", null], [77, "success", null], [82, "lost_success", null], [91, "success", null], [100, "lost_success", null], [106, "success", null], [119, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 56, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 35, + "init_config_idx": 53, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [1176.52, 220.93, 74.45, 300.32, 220.36]], [11, "contact", null], [[11], "collision", [331.77]], [15, "grasped", null], [[17, 18, 19], "collision", [62.73, 76.42, 98.87]], [27, "success", null], [28, "lost_success", null], [30, "success", null], [32, "lost_success", null], [33, "success", null], [[33], "collision", [3.67]], [34, "lost_success", null], [[36, 37], "collision", [2.34, 2.82]], [38, "success", null], [[38, 43, 44, 45, 46, 47, 48, 49], "collision", [0.98, 1.24, 1.01, 1.06, 1.27, 1.3, 1.26, 1.08]], [50, "lost_success", null], [[50, 51], "collision", [1.17, 1.17]], [52, "success", null], [[52, 53, 54, 55, 56, 57], "collision", [1.18, 1.1, 1.14, 1.06, 1.03, 1.18]], [58, "lost_success", null], [[58, 59, 60, 61, 62], "collision", [1.07, 1.04, 1.02, 1.01, 0.99]], [63, "success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [1.18, 1.12, 1.06, 1.12, 1.19, 1.08, 1.11, 1.15, 1.12, 1.11, 1.14, 1.09, 1.07, 1.11, 1.11]], [78, "lost_success", null], [[78, 79], "collision", [1.25, 0.99]], [80, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97], "collision", [1.13, 0.97, 1.07, 1.07, 1.05, 1.08, 1.07, 1.09, 1.11, 1.1, 1.12, 1.2, 1.37, 1.27, 1.16, 1.11, 1.14, 1.08]], [98, "lost_success", null], [[98, 99, 100, 101], "collision", [1.07, 1.03, 1.06, 1.14]], [102, "success", null], [[102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156], "collision", [1.08, 1.11, 1.08, 1.14, 1.35, 1.19, 1.05, 1.27, 0.95, 1.13, 0.99, 1.08, 1.06, 0.94, 0.99, 0.97, 1.01, 0.98, 0.99, 0.95, 0.93, 1.01, 0.92, 0.98, 0.9, 1.06, 0.9, 0.84, 0.83, 0.82, 0.89, 0.87, 0.79, 0.82, 0.81, 0.77, 0.79, 0.78, 0.83, 0.85, 0.79, 0.81, 0.83, 0.83, 0.92, 0.9, 1.02, 1.02, 1.05, 1.03, 0.95, 1.0, 0.91, 1.05, 0.96]], [157, "lost_success", null], [[157, 158], "collision", [0.95, 0.94]], [159, "success", null], [[159, 160, 161, 162], "collision", [0.98, 0.99, 1.01, 1.01]], [163, "lost_success", null], [[163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [1.04, 1.0, 1.01, 1.08, 1.01, 0.99, 0.95, 1.01, 0.95, 1.06, 1.13, 1.09, 1.16, 1.08, 1.26, 1.05, 1.16, 1.03, 1.1, 1.16, 1.17, 1.17, 1.09, 1.08, 1.08, 1.11, 1.07, 1.09, 1.34, 1.1, 1.1, 1.07, 1.03, 1.09, 1.11, 1.12, 1.1]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 57, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 33, + "init_config_idx": 12, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [339.69, 299.96]], [14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [16, "grasped", null], [31, "success", null], [32, "lost_success", null], [33, "success", null], [34, "lost_success", null], [50, "success", null], [53, "lost_success", null], [54, "success", null], [57, "lost_success", null], [68, "success", null], [75, "lost_success", null], [76, "success", null], [77, "lost_success", null], [88, "success", null], [91, "lost_success", null], [100, "success", null], [153, "lost_success", null], [154, "success", null], [189, "lost_success", null], [192, "success", null], [193, "lost_success", null], [195, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 58, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 56, + "init_config_idx": 9, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [[20], "collision", [2.27]], [22, "grasped", null], [52, "success", null], [54, "lost_success", null], [58, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 59, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 3, + "init_config_idx": 18, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[39, 40, 41, 42, 43], "collision", [16.12, 152.11, 43.84, 32.89, 38.32]], [51, "success", null], [59, "lost_success", null], [60, "success", null], [68, "lost_success", null], [69, "success", null], [70, "lost_success", null], [[80], "collision", [29.11]], [96, "success", null], [98, "lost_success", null], [99, "success", null], [[101, 102, 103, 104, 105, 106, 107], "collision", [29.6, 24.8, 27.71, 25.07, 24.53, 17.9, 26.16]], [117, "lost_success", null], [119, "success", null], [123, "lost_success", null], [149, "success", null], [151, "lost_success", null], [152, "success", null], [153, "lost_success", null], [154, "success", null], [159, "lost_success", null], [160, "success", null], [165, "lost_success", null], [166, "success", null], [172, "lost_success", null], [173, "success", null], [179, "lost_success", null], [180, "success", null], [185, "lost_success", null], [195, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 60, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 20, + "init_config_idx": 51, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[40, 41], "collision", [4.6, 5.69]], [47, "success", null], [[47, 48, 49, 50, 51, 52, 53], "collision", [7.56, 6.06, 18.88, 7.46, 7.73, 7.51, 6.89]], [54, "lost_success", null], [[54, 55, 57, 58, 59, 60, 71, 72, 73, 74, 75, 76], "collision", [6.76, 7.29, 6.43, 6.34, 6.58, 6.85, 33.63, 31.43, 35.55, 45.76, 53.38, 45.42]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106], "collision", [44.52, 24.85, 19.18, 27.82, 16.2, 33.92, 31.57, 31.28, 35.73, 31.95, 23.41, 13.66, 25.73, 26.05, 17.64, 21.1, 19.72, 21.73, 20.21, 9.66, 7.2, 8.98, 22.69, 22.03, 24.5, 25.02, 25.94, 22.57, 24.86]], [107, "lost_success", null], [[107], "collision", [20.38]], [108, "success", null], [[108, 109, 110, 111], "collision", [17.41, 16.39, 11.2, 14.54]], [119, "lost_success", null], [120, "success", null], [131, "lost_success", null], [134, "success", null], [140, "lost_success", null], [[140], "collision", [43.24]], [141, "success", null], [[141, 143, 144, 145], "collision", [22.75, 16.94, 13.95, 12.23]], [154, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [161, "lost_success", null], [178, "success", null], [180, "lost_success", null], [181, "success", null], [184, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 61, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 0, + "init_config_idx": 27, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 19, 20, 21, 22, 23, 27], "collision", [135.37, 126.81, 183.24, 194.13, 726.61, 319.06, 325.44, 40.71]], [29, "contact", null], [[30], "collision", [2.29]], [34, "lost_contact", null], [37, "contact", null], [38, "lost_contact", null], [39, "contact", null], [39, "grasped", null], [68, "success", null], [69, "lost_success", null], [81, "success", null], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [107, "success", null], [120, "lost_success", null], [133, "success", null], [144, "lost_success", null], [146, "success", null], [158, "lost_success", null], [159, "success", null], [165, "lost_success", null], [166, "success", null], [179, "lost_success", null], [180, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 62, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 27, + "init_config_idx": 10, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10], "collision", [730.06, 249.96, 222.51, 131.22]], [14, "contact", null], [[14], "collision", [390.88]], [16, "lost_contact", null], [[16], "collision", [0.89]], [20, "contact", null], [21, "grasped", null], [41, "success", null], [44, "lost_success", null], [53, "success", null], [73, "lost_success", null], [84, "success", null], [122, "lost_success", null], [123, "success", null], [129, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 63, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 18, + "init_config_idx": 19, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[28, "contact", null], [28, "grasped", null], [54, "success", null], [57, "lost_success", null], [88, "success", null], [90, "lost_success", null], [91, "success", null], [96, "lost_success", null], [97, "success", null], [120, "lost_success", null], [128, "success", null], [131, "lost_success", null], [[148, 149, 150, 151, 152, 154, 155, 156, 157, 158, 159, 161, 180, 181, 182, 186, 187, 188, 189], "collision", [7.02, 68.59, 30.39, 80.49, 62.34, 51.22, 72.19, 58.21, 56.59, 14.09, 23.19, 67.94, 53.33, 11.25, 15.29, 11.4, 18.67, 10.54, 10.99]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 64, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 7, + "init_config_idx": 13, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [13, "grasped", null], [28, "success", null], [38, "lost_success", null], [39, "success", null], [41, "lost_success", null], [63, "success", null], [73, "lost_success", null], [77, "success", null], [93, "lost_success", null], [134, "success", null], [135, "lost_success", null], [187, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 65, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 10, + "init_config_idx": 13, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [47, "success", null], [54, "lost_success", null], [55, "success", null], [60, "lost_success", null], [64, "success", null], [[79, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118], "collision", [178.71, 987.31, 189.79, 166.12, 162.76, 147.54, 44.82, 51.06, 84.19, 30.44, 33.61, 17.45, 41.82, 64.41, 75.43, 27.6, 14.59]], [124, "lost_success", null], [135, "success", null], [144, "lost_success", null], [145, "success", null], [151, "lost_success", null], [160, "success", null], [178, "lost_success", null], [188, "success", null], [189, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 66, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 61, + "init_config_idx": 54, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "grasped", null], [[21, 22, 23, 24, 25], "collision", [92.96, 127.35, 124.61, 106.88, 94.51]], [32, "success", null], [37, "lost_success", null], [40, "success", null], [[44], "collision", [89.04]], [45, "lost_success", null], [[45], "collision", [231.2]], [46, "success", null], [[46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 69, 73, 74, 76], "collision", [174.7, 259.58, 101.66, 217.2, 48.35, 156.06, 93.73, 107.2, 113.36, 147.25, 222.31, 71.65, 117.53, 25.68, 25.5, 2.06, 5.99, 101.66, 56.61, 49.04, 74.4, 1.7, 31.66, 5.13, 28.67, 31.21]], [128, "lost_success", null], [[128], "collision", [22.42]], [129, "success", null], [[129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140], "collision", [18.79, 14.27, 14.43, 14.06, 15.69, 13.31, 13.74, 9.89, 12.92, 14.33, 11.94, 9.95]], [141, "lost_success", null], [[141, 142, 143], "collision", [10.44, 8.63, 11.14]], [144, "success", null], [[144, 145, 146], "collision", [11.25, 14.59, 8.63]], [147, "lost_success", null], [148, "success", null], [152, "lost_success", null], [153, "success", null], [[154, 155, 156, 157, 158, 159, 160, 161, 162], "collision", [9.79, 8.31, 9.62, 7.44, 8.01, 7.3, 7.03, 6.87, 5.78]], [168, "lost_success", null], [169, "success", null], [[171, 175], "collision", [5.67, 7.25]], [188, "lost_success", null], [189, "success", null], [190, "lost_success", null], [191, "success", null], [195, "lost_success", null], [196, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 67, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 34, + "init_config_idx": 29, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [18, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [2.75, 2.2, 1.3, 0.94, 0.59, 0.65, 0.67, 79.82, 0.79, 11.79, 5.56, 14.74, 45.05, 50.89, 94.65, 9.52, 46.68]], [37, "success", null], [[37], "collision", [1.02]], [38, "lost_success", null], [[38], "collision", [0.35]], [39, "success", null], [[39, 40, 41], "collision", [0.22, 0.46, 0.66]], [42, "lost_success", null], [[42, 43], "collision", [0.76, 0.52]], [44, "success", null], [[44, 45, 46], "collision", [0.47, 0.36, 0.45]], [47, "lost_success", null], [[47, 48], "collision", [0.39, 0.36]], [49, "success", null], [[49, 50, 51, 52, 53, 54, 55], "collision", [66.29, 43.47, 33.64, 65.16, 4.37, 0.34, 0.09]], [56, "lost_success", null], [[56, 57, 58, 59], "collision", [0.06, 0.18, 0.25, 0.26]], [60, "success", null], [[60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70], "collision", [0.31, 0.34, 0.26, 0.46, 0.43, 59.79, 25.68, 2.07, 6.66, 7.82, 0.34]], [71, "lost_success", null], [[71, 72, 73, 74, 75, 76, 77, 78], "collision", [0.35, 0.32, 0.31, 0.31, 0.29, 0.27, 0.25, 0.32]], [79, "success", null], [[79, 80, 81, 82, 83], "collision", [0.32, 0.31, 0.31, 0.41, 0.31]], [84, "lost_success", null], [[84, 85], "collision", [0.3, 0.29]], [86, "success", null], [[86, 87, 88, 89, 90, 91], "collision", [0.27, 0.35, 0.22, 0.27, 0.17, 0.18]], [92, "lost_success", null], [[92, 93, 94, 95, 96, 97, 98, 99], "collision", [0.12, 0.2, 0.2, 0.25, 0.33, 0.45, 0.36, 0.39]], [100, "success", null], [[100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112], "collision", [0.45, 0.44, 0.4, 0.35, 0.37, 0.42, 0.4, 0.44, 0.36, 0.27, 0.3, 0.28, 0.34]], [113, "lost_success", null], [[113], "collision", [0.34]], [114, "success", null], [[114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.16, 0.17, 0.3, 0.33, 0.4, 0.42, 125.67, 86.15, 57.87, 47.61, 43.46, 12.36, 78.98, 93.09, 29.22, 24.38, 107.03, 111.66, 133.4, 107.55, 75.46, 83.57, 128.98, 87.5, 146.49, 101.36, 129.4, 142.9, 134.74, 150.91, 163.51, 63.32, 42.05, 62.22, 0.61, 24.32, 5.95, 0.51, 0.56, 0.53, 0.69, 0.75, 0.63, 0.67, 0.62, 0.53, 0.35, 0.37, 0.3, 0.37, 0.46, 0.36, 0.48, 0.45, 0.46, 0.66, 0.56, 0.42, 0.48, 0.57, 0.48, 0.49, 0.48, 0.42, 0.34, 0.4, 124.25, 0.68, 0.59, 0.66, 0.67, 0.79, 0.69, 0.8, 0.71, 0.75, 0.72, 0.8, 0.52, 0.75, 0.8, 0.71, 0.76, 0.87, 0.93, 0.84]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 68, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 36, + "init_config_idx": 32, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [52, "success", null], [107, "lost_success", null], [125, "success", null], [127, "lost_success", null], [148, "success", null], [156, "lost_success", null], [157, "success", null], [158, "lost_success", null], [161, "success", null], [162, "lost_success", null], [166, "success", null], [177, "lost_success", null], [[182, 185, 188, 190, 192, 198, 199], "collision", [369.38, 96.67, 55.52, 33.13, 3.69, 114.86, 0.66]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 69, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 53, + "init_config_idx": 13, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3], "collision", [269.52]], [10, "contact", null], [11, "grasped", null], [22, "success", null], [[31], "collision", [50.89]], [32, "lost_success", null], [[32], "collision", [48.16]], [33, "success", null], [[33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [17.65, 32.38, 24.29, 23.73, 0.21, 39.05, 16.13, 16.17, 32.22, 24.72, 28.3, 28.34, 15.59, 8.97, 25.05, 29.13, 24.98, 18.71, 26.15, 23.52, 0.46, 19.57, 3.55, 15.67, 3.7, 14.81, 80.52, 27.13, 24.45, 25.85, 26.53, 31.1, 33.36, 31.61, 32.51, 33.69]], [70, "lost_success", null], [[70, 71], "collision", [59.85, 76.81]], [72, "success", null], [[72, 73, 74, 75], "collision", [73.56, 69.64, 69.63, 64.18]], [76, "lost_success", null], [[76], "collision", [54.52]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83], "collision", [53.91, 61.31, 66.01, 45.45, 44.18, 45.38, 38.08]], [84, "lost_success", null], [[84], "collision", [26.03]], [85, "success", null], [[85, 86, 87], "collision", [23.98, 29.97, 33.17]], [88, "lost_success", null], [[88], "collision", [25.96]], [89, "success", null], [[89], "collision", [23.39]], [90, "lost_success", null], [[90], "collision", [34.23]], [91, "success", null], [[91, 92], "collision", [25.72, 5.95]], [93, "lost_success", null], [103, "success", null], [[104, 105, 106, 107, 108, 109, 110, 111, 112, 113], "collision", [20.01, 38.02, 43.92, 51.39, 46.6, 49.87, 45.6, 45.67, 40.37, 35.89]], [114, "lost_success", null], [[114], "collision", [26.19]], [115, "success", null], [[115, 116, 119, 120, 121, 122, 123, 125, 127], "collision", [17.26, 3.82, 16.01, 14.14, 17.84, 7.3, 13.23, 8.3, 12.89]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 70, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 33, + "init_config_idx": 10, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [[36, 37], "collision", [87.71, 32.94]], [49, "success", null], [65, "lost_success", null], [66, "success", null], [104, "lost_success", null], [110, "success", null], [114, "lost_success", null], [133, "success", null], [155, "lost_success", null], [157, "success", null], [171, "lost_success", null], [176, "success", null], [197, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 71, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 9, + "init_config_idx": 0, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[23, 24, 25, 26, 28, 29, 30], "collision", [331.58, 176.91, 893.99, 382.54, 785.46, 565.79, 362.71]], [31, "contact", null], [[31], "collision", [210.6]], [32, "grasped", null], [[32, 34, 35, 37, 38], "collision", [36.97, 96.6, 13.3, 415.13, 70.48]], [77, "success", null], [166, "lost_success", null], [169, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 72, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 43, + "init_config_idx": 32, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [492.66]], [22, "contact", null], [22, "grasped", null], [42, "success", null], [45, "lost_success", null], [46, "success", null], [49, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [69, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [74, "success", null], [[88, 89, 90, 91, 92], "collision", [37.46, 19.51, 29.79, 22.14, 34.74]], [96, "lost_success", null], [[96], "collision", [49.43]], [97, "success", null], [[97, 98], "collision", [52.51, 49.93]], [99, "lost_success", null], [[99, 100, 101, 102, 105], "collision", [27.06, 22.14, 8.42, 19.62, 11.73]], [107, "success", null], [[107, 108, 109, 110, 111, 112, 113, 114], "collision", [16.04, 39.85, 87.74, 57.9, 54.12, 47.52, 69.8, 39.9]], [115, "lost_success", null], [[115], "collision", [14.3]], [116, "success", null], [[117], "collision", [52.18]], [121, "lost_success", null], [132, "success", null], [193, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 73, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 31, + "init_config_idx": 13, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [[20], "collision", [0.01]], [22, "grasped", null], [38, "success", null], [45, "lost_success", null], [47, "success", null], [66, "lost_success", null], [67, "success", null], [85, "lost_success", null], [91, "success", null], [96, "lost_success", null], [98, "success", null], [116, "lost_success", null], [117, "success", null], [144, "lost_success", null], [147, "success", null], [161, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 74, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 10, + "init_config_idx": 2, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [54, "lost_success", null], [55, "success", null], [61, "lost_success", null], [66, "success", null], [69, "lost_success", null], [74, "success", null], [75, "lost_success", null], [76, "success", null], [108, "lost_success", null], [110, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 75, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 8, + "init_config_idx": 40, + "spawn_selection_idx": 41, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [210.74]], [21, "contact", null], [22, "grasped", null], [[22], "collision", [173.78]], [50, "success", null], [55, "lost_success", null], [62, "success", null], [71, "lost_success", null], [108, "success", null], [113, "lost_success", null], [129, "success", null], [130, "lost_success", null], [135, "success", null], [138, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 76, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 37, + "init_config_idx": 31, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14], "collision", [186.96, 2.32]], [15, "contact", null], [16, "grasped", null], [[20], "collision", [62.28]], [31, "success", null], [40, "lost_success", null], [[41], "collision", [72.3]], [43, "success", null], [[51, 52, 53], "collision", [30.58, 56.52, 34.26]], [54, "lost_success", null], [[54, 55, 56, 57], "collision", [50.52, 24.67, 25.86, 14.84]], [60, "success", null], [63, "lost_success", null], [64, "success", null], [70, "lost_success", null], [73, "success", null], [75, "lost_success", null], [[75, 76, 77, 78, 79, 80], "collision", [107.77, 58.04, 37.65, 14.15, 29.56, 27.29]], [81, "success", null], [[81, 82, 83, 84, 85, 86, 87], "collision", [40.97, 42.59, 45.98, 59.99, 27.05, 7.39, 17.86]], [91, "lost_success", null], [[91], "collision", [184.45]], [96, "success", null], [107, "lost_success", null], [108, "success", null], [121, "lost_success", null], [139, "success", null], [155, "lost_success", null], [156, "success", null], [167, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 77, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 28, + "init_config_idx": 35, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [41, "success", null], [44, "lost_success", null], [47, "success", null], [71, "lost_success", null], [73, "success", null], [89, "lost_success", null], [97, "success", null], [106, "lost_success", null], [108, "success", null], [111, "lost_success", null], [124, "success", null], [131, "lost_success", null], [132, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [138, "success", null], [139, "lost_success", null], [140, "success", null], [142, "lost_success", null], [161, "success", null], [179, "lost_success", null], [180, "success", null], [187, "lost_success", null], [193, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 78, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 30, + "init_config_idx": 12, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [17, "lost_contact", null], [21, "contact", null], [22, "grasped", null], [[28, 29], "collision", [209.1, 265.29]], [46, "success", null], [49, "lost_success", null], [50, "success", null], [54, "lost_success", null], [55, "success", null], [58, "lost_success", null], [59, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [73, "success", null], [92, "lost_success", null], [104, "success", null], [143, "lost_success", null], [161, "success", null], [180, "lost_success", null], [181, "success", null], [182, "lost_success", null], [183, "success", null], [185, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 79, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 6, + "init_config_idx": 9, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 15, 18, 19, 20], "collision", [629.75, 143.58, 897.34, 191.15, 164.5, 102.39]], [22, "contact", null], [23, "grasped", null], [[24, 32, 33, 34, 35, 36, 37, 38, 43], "collision", [220.21, 28.57, 35.86, 50.19, 63.01, 69.71, 76.95, 35.26, 0.53]], [45, "success", null], [49, "lost_success", null], [59, "success", null], [72, "lost_success", null], [92, "success", null], [96, "lost_success", null], [103, "success", null], [[104], "collision", [42.75]], [105, "lost_success", null], [[105], "collision", [163.74]], [106, "success", null], [[106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 117], "collision", [133.79, 111.04, 118.13, 71.77, 82.24, 73.4, 50.83, 36.03, 42.39, 32.36, 43.81]], [118, "lost_success", null], [[118], "collision", [24.18]], [119, "success", null], [[119, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [15.25, 7.23, 113.31, 163.49, 156.15, 158.38, 43.15, 8.61, 19.98, 78.16, 133.3, 50.24, 75.37, 12.82, 7.1]], [140, "lost_success", null], [142, "success", null], [175, "lost_success", null], [185, "success", null], [197, "lost_success", null], [198, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 80, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 52, + "init_config_idx": 39, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[27, "contact", null], [28, "lost_contact", null], [[28], "collision", [194.88]], [29, "contact", null], [[29, 30], "collision", [13.76, 13.17]], [32, "grasped", null], [[32, 33], "collision", [14.32, 5.11]], [95, "success", null], [112, "lost_success", null], [116, "success", null], [118, "lost_success", null], [119, "success", null], [120, "lost_success", null], [121, "success", null], [124, "lost_success", null], [130, "success", null], [162, "lost_success", null], [171, "success", null], [173, "lost_success", null], [176, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 81, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 35, + "init_config_idx": 24, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [563.69, 216.34]], [15, "contact", null], [15, "grasped", null], [[16, 17, 18], "collision", [383.09, 62.77, 1.08]], [35, "success", null], [36, "lost_success", null], [38, "success", null], [42, "lost_success", null], [45, "success", null], [46, "lost_success", null], [49, "success", null], [55, "lost_success", null], [57, "success", null], [58, "lost_success", null], [61, "success", null], [71, "lost_success", null], [72, "success", null], [87, "lost_success", null], [[87, 88, 89, 90], "collision", [54.94, 17.73, 22.78, 7.96]], [98, "success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 134, 135, 140, 141, 142, 143, 144, 145, 146, 147, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [24.22, 33.48, 101.87, 38.39, 50.02, 74.7, 97.1, 84.74, 72.43, 62.0, 88.55, 76.05, 91.1, 105.76, 123.8, 83.9, 68.32, 75.61, 66.08, 77.97, 75.82, 78.15, 52.29, 55.29, 32.56, 44.9, 40.67, 36.32, 28.6, 31.64, 36.44, 32.84, 37.56, 31.26, 31.35, 23.61, 7.36, 37.19, 30.39, 13.71, 14.4, 18.83, 13.34, 22.01, 20.33, 15.89, 17.6, 13.99, 18.68, 13.68, 15.02, 14.07, 10.33, 16.12, 21.01, 16.7, 23.81, 21.36, 22.19, 26.96, 34.91, 33.06, 33.74, 61.16, 74.5, 59.47]], [170, "lost_success", null], [[170, 171], "collision", [19.64, 1.93]], [174, "success", null], [175, "lost_success", null], [[175], "collision", [35.66]], [176, "success", null], [[177, 178, 179, 180, 181, 182, 184, 185], "collision", [48.64, 61.32, 30.39, 32.5, 73.23, 23.27, 51.02, 57.5]], [186, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 82, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 50, + "init_config_idx": 4, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [[31, 32, 33, 34, 35, 36], "collision", [107.85, 111.13, 94.11, 84.53, 92.4, 73.44]], [45, "success", null], [57, "lost_success", null], [62, "success", null], [70, "lost_success", null], [73, "success", null], [79, "lost_success", null], [89, "success", null], [102, "lost_success", null], [139, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [143, "success", null], [183, "lost_success", null], [188, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 83, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 3, + "init_config_idx": 2, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12], "collision", [237.53, 185.92, 70.64]], [16, "contact", null], [17, "lost_contact", null], [[19, 20], "collision", [1636.47, 101.13]], [21, "contact", null], [[21], "collision", [48.02]], [22, "grasped", null], [[25, 27, 28], "collision", [0.45, 1.6, 11.23]], [38, "success", null], [[43, 44, 45, 46, 47], "collision", [10.31, 3.65, 3.52, 4.23, 3.31]], [48, "lost_success", null], [[48, 49, 50], "collision", [4.35, 3.92, 4.04]], [51, "success", null], [[51, 52, 53, 54, 55], "collision", [4.24, 4.52, 3.89, 3.96, 3.91]], [56, "lost_success", null], [[56], "collision", [3.93]], [57, "success", null], [[57, 58, 59, 60], "collision", [3.91, 3.96, 3.96, 3.9]], [61, "lost_success", null], [[61, 62, 63, 64], "collision", [3.93, 3.91, 3.91, 3.89]], [65, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [4.44, 4.45, 3.86, 3.9, 3.93, 3.89, 3.91, 3.96, 3.9, 3.94, 3.94, 3.91, 3.92, 3.91, 3.9, 4.24, 3.96, 3.93, 3.89, 3.93, 3.89, 3.89, 3.9, 3.91]], [89, "lost_success", null], [[89], "collision", [3.91]], [90, "success", null], [[90, 91], "collision", [3.93, 3.97]], [92, "lost_success", null], [[92, 93, 94], "collision", [3.93, 3.91, 3.88]], [95, "success", null], [[95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [3.95, 3.9, 3.9, 3.95, 3.96, 3.9, 3.9, 3.9, 3.89, 3.89, 3.9, 3.91, 3.93]], [108, "lost_success", null], [[108, 109, 110, 111, 112, 113], "collision", [3.92, 3.9, 3.92, 3.9, 3.88, 3.9]], [114, "success", null], [[114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161], "collision", [3.97, 3.89, 3.92, 3.9, 3.9, 3.91, 3.9, 3.9, 3.97, 3.88, 3.91, 3.89, 3.9, 3.91, 3.89, 3.91, 3.93, 3.9, 3.99, 3.89, 3.9, 3.91, 3.9, 3.9, 3.89, 3.9, 3.95, 3.92, 3.91, 3.97, 3.97, 3.91, 3.89, 3.96, 3.89, 3.9, 4.0, 3.99, 3.89, 3.91, 4.11, 3.89, 3.95, 3.89, 3.91, 4.28, 4.01, 3.9]], [162, "lost_success", null], [[162, 163, 164, 165, 166], "collision", [3.95, 3.89, 3.9, 3.9, 3.91]], [167, "success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.94, 3.92, 3.9, 3.99, 3.92, 3.89, 3.89, 3.97, 3.92, 3.9, 3.9, 3.89, 3.91, 3.91, 3.91, 3.9, 3.9, 3.89, 3.9, 3.95, 3.9, 3.89, 3.9, 3.9, 3.9, 3.99, 3.91, 3.99, 3.9, 3.91, 3.9, 3.95, 3.99]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 84, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 21, + "init_config_idx": 38, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [39, "success", null], [51, "lost_success", null], [65, "success", null], [80, "lost_success", null], [84, "success", null], [85, "lost_success", null], [91, "success", null], [96, "lost_success", null], [98, "success", null], [102, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 85, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 37, + "init_config_idx": 46, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [1.33]], [23, "contact", null], [25, "grasped", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [66, "lost_success", null], [67, "success", null], [71, "lost_success", null], [72, "success", null], [76, "lost_success", null], [77, "success", null], [78, "lost_success", null], [83, "success", null], [98, "lost_success", null], [102, "success", null], [115, "lost_success", null], [127, "success", null], [139, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 86, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 17, + "init_config_idx": 49, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [48, "success", null], [55, "lost_success", null], [71, "success", null], [74, "lost_success", null], [75, "success", null], [78, "lost_success", null], [[96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117], "collision", [7.22, 9.1, 7.34, 4.68, 7.09, 8.81, 7.91, 7.89, 6.69, 7.3, 6.82, 6.37, 6.81, 7.03, 6.03, 6.0, 5.44, 6.62, 5.7, 15.56, 67.37, 24.68]], [123, "success", null], [124, "lost_success", null], [[124], "collision", [62.67]], [125, "success", null], [[125, 127], "collision", [57.81, 72.87]], [128, "lost_success", null], [129, "success", null], [[129, 130], "collision", [36.67, 29.39]], [134, "lost_success", null], [141, "success", null], [142, "lost_success", null], [144, "success", null], [[144], "collision", [70.69]], [146, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 87, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 17, + "init_config_idx": 49, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [14, "grasped", null], [28, "success", null], [39, "lost_success", null], [55, "success", null], [62, "lost_success", null], [63, "success", null], [68, "lost_success", null], [92, "success", null], [[102, 103, 104, 106, 107, 108, 109, 110, 111, 112, 113], "collision", [7.36, 15.41, 10.44, 10.24, 7.63, 7.3, 10.28, 7.93, 7.62, 6.81, 7.34]], [118, "lost_success", null], [120, "success", null], [121, "lost_success", null], [142, "success", null], [145, "lost_success", null], [146, "success", null], [153, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 88, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 7, + "init_config_idx": 38, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [94.05]], [18, "contact", null], [19, "lost_contact", null], [[20], "collision", [39.12]], [21, "contact", null], [25, "lost_contact", null], [32, "contact", null], [32, "grasped", null], [46, "success", null], [[49, 50, 51, 52, 53, 54, 55, 56, 57, 58], "collision", [2.44, 0.99, 0.4, 1.32, 0.32, 0.29, 0.25, 0.43, 1.4, 1.02]], [60, "lost_success", null], [[61, 62, 63, 64], "collision", [5.6, 2.14, 1.86, 1.25]], [65, "success", null], [[65], "collision", [1.15]], [66, "lost_success", null], [[66], "collision", [0.96]], [67, "success", null], [[67], "collision", [1.12]], [68, "lost_success", null], [[68, 69], "collision", [0.56, 0.55]], [70, "success", null], [[70, 71, 72, 73, 74, 75], "collision", [0.62, 0.72, 0.72, 0.68, 1.04, 0.59]], [77, "lost_success", null], [82, "success", null], [[93, 94], "collision", [0.56, 0.61]], [97, "lost_success", null], [100, "success", null], [[101, 103, 104, 105, 106, 107, 108, 109, 111, 113, 114, 115, 116, 120, 126], "collision", [0.65, 1.16, 1.31, 0.9, 0.56, 0.97, 0.58, 0.04, 0.99, 0.58, 1.31, 1.23, 0.9, 0.91, 0.02]], [127, "lost_success", null], [[127], "collision", [1.05]], [128, "success", null], [[128, 129, 131, 132, 133, 134, 135, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [1.26, 0.98, 0.95, 0.42, 1.26, 1.45, 0.58, 0.73, 1.28, 0.0, 0.78, 1.03, 0.77, 1.04, 1.18]], [145, "lost_success", null], [[145], "collision", [0.8]], [146, "success", null], [[146, 147, 148, 149, 150, 151, 152, 153, 154, 160, 161, 162, 171, 173, 174, 175, 176, 177, 178, 179, 180, 181, 184, 193, 195, 197], "collision", [1.0, 1.0, 0.93, 1.7, 1.91, 1.5, 0.99, 1.28, 1.17, 1.6, 1.49, 1.28, 1.25, 1.13, 1.12, 1.57, 0.9, 1.68, 0.62, 1.59, 1.19, 1.17, 1.22, 1.42, 1.14, 0.66]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 89, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 8, + "init_config_idx": 46, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17, 18], "collision", [357.25, 1133.43, 84.32, 133.44]], [23, "contact", null], [26, "grasped", null], [[29], "collision", [3.87]], [61, "success", null], [62, "lost_success", null], [64, "success", null], [65, "lost_success", null], [68, "success", null], [74, "lost_success", null], [85, "success", null], [96, "lost_success", null], [98, "success", null], [150, "lost_success", null], [153, "success", null], [165, "lost_success", null], [170, "success", null], [172, "lost_success", null], [173, "success", null], [174, "lost_success", null], [176, "success", null], [177, "lost_success", null], [178, "success", null], [189, "lost_success", null], [190, "success", null], [197, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 90, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 18, + "init_config_idx": 4, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [37, "success", null], [44, "lost_success", null], [46, "success", null], [48, "lost_success", null], [50, "success", null], [51, "lost_success", null], [56, "success", null], [64, "lost_success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 80, 81, 82, 83], "collision", [236.34, 266.23, 598.65, 234.27, 243.51, 272.07, 300.39, 306.94, 386.15, 182.58, 167.62, 165.88]], [137, "success", null], [142, "lost_success", null], [148, "success", null], [149, "lost_success", null], [151, "success", null], [178, "lost_success", null], [179, "success", null], [180, "lost_success", null], [183, "success", null], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null], [196, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 91, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 18, + "init_config_idx": 10, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9], "collision", [340.79, 295.17, 800.52, 353.07, 236.75]], [10, "contact", null], [12, "grasped", null], [[13, 14, 15], "collision", [2.92, 322.06, 38.81]], [25, "success", null], [31, "lost_success", null], [32, "success", null], [36, "lost_success", null], [40, "success", null], [58, "lost_success", null], [59, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [68, "success", null], [72, "lost_success", null], [73, "success", null], [97, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 92, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 47, + "init_config_idx": 21, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6], "collision", [580.59, 31.0]], [13, "contact", null], [14, "grasped", null], [29, "success", null], [33, "lost_success", null], [[43, 44, 45, 46], "collision", [149.49, 69.49, 100.93, 133.53]], [47, "success", null], [[47, 48, 50, 51], "collision", [89.27, 89.41, 55.77, 102.58]], [52, "lost_success", null], [[52], "collision", [101.18]], [53, "success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 68, 70, 71, 72, 73, 74, 75, 77, 78, 79, 80, 81, 82, 83], "collision", [149.9, 98.22, 170.96, 197.7, 121.89, 182.96, 175.76, 127.67, 132.6, 18.69, 72.39, 22.15, 98.74, 67.32, 16.8, 69.19, 73.01, 94.26, 70.49, 51.36, 70.95, 11.64, 66.86, 63.42, 54.22, 12.76, 65.75, 68.26]], [107, "lost_success", null], [110, "success", null], [154, "lost_success", null], [161, "success", null], [167, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 93, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 27, + "init_config_idx": 5, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [22, "success", null], [43, "lost_success", null], [51, "success", null], [62, "lost_success", null], [75, "success", null], [79, "lost_success", null], [[89, 90, 91, 92, 94, 95], "collision", [55.98, 33.41, 0.84, 39.19, 75.58, 25.2]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 94, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 27, + "init_config_idx": 5, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [32, "success", null], [35, "lost_success", null], [59, "success", null], [74, "lost_success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 92, 94, 96, 100, 102], "collision", [57.43, 113.63, 213.19, 121.41, 67.03, 186.49, 163.79, 185.71, 66.06, 54.49, 38.19, 57.76, 40.99, 72.01, 45.5, 3.58, 37.67, 41.96, 26.6, 21.88, 21.01]], [181, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 95, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 31, + "init_config_idx": 18, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 16], "collision", [17.25, 2804.85]], [24, "contact", null], [25, "grasped", null], [49, "success", null], [58, "lost_success", null], [59, "success", null], [[142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157], "collision", [22.54, 34.0, 43.85, 32.75, 34.97, 32.0, 25.67, 20.33, 41.56, 61.5, 45.48, 50.47, 38.75, 30.19, 26.18, 23.33]], [158, "lost_success", null], [[158], "collision", [19.55]], [159, "success", null], [[159], "collision", [16.07]], [160, "lost_success", null], [162, "success", null], [163, "lost_success", null], [164, "success", null], [167, "lost_success", null], [181, "success", null], [183, "lost_success", null], [186, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 96, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 44, + "init_config_idx": 37, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 12, 13, 14, 15, 16, 17, 19, 21, 22, 23, 25], "collision", [178.36, 192.03, 66.05, 149.44, 241.5, 195.78, 390.11, 300.02, 45.19, 291.84, 181.3, 207.5]], [26, "contact", null], [[26, 27, 28], "collision", [0.11, 716.08, 91.15]], [29, "lost_contact", null], [[29, 30], "collision", [37.44, 33.76]], [31, "contact", null], [32, "grasped", null], [[32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61], "collision", [32.48, 6.68, 3.49, 3.07, 3.54, 3.49, 3.8, 4.02, 3.68, 3.44, 3.62, 3.53, 3.64, 3.57, 3.63, 3.65, 3.63, 3.77, 3.72, 3.65, 3.66, 3.59, 3.6, 3.59, 3.56, 3.56, 3.51, 3.63, 3.62, 3.58]], [62, "success", null], [[62, 63], "collision", [3.58, 3.67]], [64, "lost_success", null], [[64, 65, 66], "collision", [3.65, 3.67, 3.65]], [67, "success", null], [[67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [3.64, 3.66, 3.65, 3.66, 3.66, 3.62, 3.62, 3.65, 3.66, 3.63]], [77, "lost_success", null], [[77], "collision", [3.66]], [78, "success", null], [[78, 79, 80], "collision", [3.67, 3.65, 3.62]], [81, "lost_success", null], [[81, 82, 83], "collision", [3.63, 3.6, 3.64]], [84, "success", null], [[84, 85, 86], "collision", [3.65, 3.67, 3.65]], [87, "lost_success", null], [[87, 88], "collision", [3.65, 3.63]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [3.66, 3.64, 3.66, 3.66, 3.64, 3.61, 3.63, 3.65, 3.66, 3.6, 3.61, 3.62]], [101, "lost_success", null], [[101, 102], "collision", [3.63, 3.65]], [103, "success", null], [[103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116], "collision", [3.63, 3.65, 3.61, 3.63, 3.63, 3.65, 3.63, 3.63, 3.64, 3.62, 3.58, 3.66, 3.65, 3.62]], [117, "lost_success", null], [[117], "collision", [3.63]], [118, "success", null], [[118, 119, 120], "collision", [3.62, 3.61, 3.64]], [121, "lost_success", null], [[121, 122, 123, 124, 125, 126, 127, 128, 129, 130], "collision", [3.67, 3.55, 3.64, 3.61, 3.62, 3.6, 3.58, 3.64, 3.59, 3.64]], [131, "success", null], [[131, 132, 133, 134, 135], "collision", [3.62, 3.63, 3.59, 3.63, 3.62]], [136, "lost_success", null], [[136], "collision", [3.65]], [137, "success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145, 146], "collision", [3.64, 3.66, 3.61, 3.66, 3.62, 3.65, 3.62, 3.64, 3.65, 3.63]], [147, "lost_success", null], [[147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170], "collision", [3.64, 3.59, 3.66, 3.62, 3.59, 3.63, 3.65, 3.62, 3.65, 3.62, 3.65, 3.63, 3.62, 3.62, 3.65, 3.66, 3.63, 3.68, 3.65, 3.64, 3.64, 3.64, 3.61, 3.65]], [171, "success", null], [[171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181], "collision", [3.67, 3.65, 3.63, 3.64, 3.65, 3.59, 3.64, 3.66, 3.63, 3.6, 3.63]], [182, "lost_success", null], [[182, 183, 184, 185, 186, 187, 188], "collision", [3.63, 3.64, 3.62, 3.63, 3.61, 3.6, 3.65]], [189, "success", null], [[189], "collision", [3.64]], [190, "lost_success", null], [[190], "collision", [3.62]], [191, "success", null], [[191, 192, 193, 194, 195], "collision", [3.65, 3.61, 3.63, 3.61, 3.64]], [196, "lost_success", null], [[196, 197, 198], "collision", [3.61, 3.65, 3.63]], [199, "success", null], [[199], "collision", [3.66]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 97, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 18, + "init_config_idx": 21, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [[19], "collision", [0.06]], [20, "lost_contact", null], [22, "contact", null], [23, "lost_contact", null], [24, "contact", null], [24, "grasped", null], [53, "success", null], [58, "lost_success", null], [60, "success", null], [62, "lost_success", null], [[63], "collision", [0.36]], [65, "success", null], [[65, 66, 67, 68, 69], "collision", [0.17, 0.09, 0.27, 0.33, 0.34]], [70, "lost_success", null], [[70, 71, 72, 73, 74, 75, 76, 77], "collision", [0.31, 1.16, 0.43, 0.4, 0.34, 0.34, 0.11, 0.34]], [78, "success", null], [[78, 79], "collision", [0.34, 0.35]], [80, "lost_success", null], [[80, 81, 82, 83], "collision", [0.35, 0.35, 0.35, 0.35]], [84, "success", null], [[84], "collision", [0.35]], [85, "lost_success", null], [[85, 86, 87, 88, 89, 90, 91], "collision", [0.34, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [92, "success", null], [[92], "collision", [0.35]], [93, "lost_success", null], [[93], "collision", [0.35]], [94, "success", null], [[94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [109, "lost_success", null], [[109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [175, "success", null], [[175], "collision", [0.35]], [176, "lost_success", null], [[176, 177, 178], "collision", [0.35, 0.35, 0.35]], [179, "success", null], [[179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 98, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 8, + "init_config_idx": 26, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [21, "lost_contact", null], [41, "contact", null], [42, "lost_contact", null], [43, "contact", null], [43, "grasped", null], [[54, 55, 56, 57], "collision", [120.24, 70.07, 113.86, 114.94]], [95, "success", null], [99, "lost_success", null], [100, "success", null], [107, "lost_success", null], [113, "success", null], [120, "lost_success", null], [121, "success", null], [122, "lost_success", null], [123, "success", null], [124, "lost_success", null], [125, "success", null], [128, "lost_success", null], [136, "success", null], [138, "lost_success", null], [154, "success", null], [164, "lost_success", null], [165, "success", null], [172, "lost_success", null], [180, "success", null], [188, "lost_success", null], [189, "success", null], [192, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 99, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 6, + "init_config_idx": 21, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [[26, 27], "collision", [70.81, 89.02]], [33, "success", null], [44, "lost_success", null], [46, "success", null], [50, "lost_success", null], [59, "success", null], [[61], "collision", [162.24]], [62, "lost_success", null], [65, "success", null], [71, "lost_success", null], [73, "success", null], [83, "lost_success", null], [91, "success", null], [[138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 172, 173, 174, 176, 177, 178, 186, 187, 188, 189, 190, 191, 192, 193, 195, 197, 198, 199], "collision", [22.86, 26.09, 25.16, 17.83, 15.9, 16.76, 18.39, 13.86, 17.66, 17.07, 20.28, 24.4, 27.01, 25.65, 16.64, 24.45, 22.08, 25.35, 23.42, 23.35, 18.86, 22.46, 22.03, 19.03, 19.76, 15.75, 14.46, 16.51, 11.61, 13.28, 8.93, 5.06, 7.76, 6.06, 4.03, 4.97, 8.28, 5.05, 3.94, 1.39, 7.67, 3.53, 5.41, 6.07, 6.82, 4.97, 6.55, 6.13, 8.61, 9.56, 7.39]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 100, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 45, + "init_config_idx": 2, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [45, "success", null], [49, "lost_success", null], [67, "success", null], [79, "lost_success", null], [103, "success", null], [107, "lost_success", null], [109, "success", null], [111, "lost_success", null], [114, "success", null], [117, "lost_success", null], [118, "success", null], [119, "lost_success", null], [130, "success", null], [164, "lost_success", null], [169, "success", null], [176, "lost_success", null], [189, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 101, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 24, + "init_config_idx": 30, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [45, "success", null], [[68], "collision", [14.95]], [69, "lost_success", null], [70, "success", null], [[76, 84, 85, 86], "collision", [109.59, 67.15, 88.44, 45.97]], [128, "lost_success", null], [133, "success", null], [145, "lost_success", null], [149, "success", null], [152, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 102, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 35, + "init_config_idx": 4, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [258.76, 83.2, 273.72, 189.9, 163.54]], [18, "contact", null], [21, "lost_contact", null], [25, "contact", null], [27, "lost_contact", null], [32, "contact", null], [[38, 39, 40], "collision", [0.87, 1.19, 0.31]], [45, "grasped", null], [63, "success", null], [75, "lost_success", null], [80, "success", null], [81, "lost_success", null], [97, "success", null], [100, "lost_success", null], [101, "success", null], [110, "lost_success", null], [113, "success", null], [114, "lost_success", null], [116, "success", null], [117, "lost_success", null], [123, "success", null], [124, "lost_success", null], [125, "success", null], [133, "lost_success", null], [145, "success", null], [147, "lost_success", null], [174, "success", null], [176, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 103, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 23, + "init_config_idx": 6, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [47, "success", null], [49, "lost_success", null], [81, "success", null], [84, "lost_success", null], [85, "success", null], [87, "lost_success", null], [89, "success", null], [90, "lost_success", null], [[92], "collision", [9.32]], [93, "success", null], [[93, 94, 95, 96, 97], "collision", [10.63, 9.0, 8.89, 10.43, 7.55]], [98, "lost_success", null], [[98, 99, 100], "collision", [5.88, 8.89, 8.68]], [101, "success", null], [[101], "collision", [6.52]], [102, "lost_success", null], [[102, 103, 104, 105], "collision", [7.39, 8.82, 10.16, 7.99]], [106, "success", null], [107, "lost_success", null], [109, "success", null], [124, "lost_success", null], [133, "success", null], [134, "lost_success", null], [138, "success", null], [145, "lost_success", null], [150, "success", null], [162, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null], [195, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 104, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 35, + "init_config_idx": 15, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [39, "success", null], [41, "lost_success", null], [[61], "collision", [43.48]], [62, "success", null], [[62, 63, 64, 65, 66, 67, 68], "collision", [19.51, 15.86, 15.99, 15.76, 16.2, 19.68, 22.75]], [69, "lost_success", null], [[69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [23.83, 19.99, 22.23, 24.29, 21.41, 19.86, 20.81, 14.25, 16.22, 19.0, 19.48, 17.91, 15.66, 21.11, 19.63, 20.88, 18.35, 19.21, 17.52, 8.62, 7.67]], [90, "success", null], [[90, 91, 92], "collision", [8.23, 13.71, 20.35]], [93, "lost_success", null], [[93, 94], "collision", [18.2, 17.19]], [95, "success", null], [[95], "collision", [11.15]], [96, "lost_success", null], [97, "success", null], [101, "lost_success", null], [102, "success", null], [118, "lost_success", null], [119, "success", null], [122, "lost_success", null], [125, "success", null], [126, "lost_success", null], [127, "success", null], [129, "lost_success", null], [141, "success", null], [142, "lost_success", null], [143, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [151, "success", null], [158, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 105, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 1, + "init_config_idx": 26, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [[19, 20], "collision", [6.57, 3.45]], [22, "grasped", null], [[24, 25], "collision", [0.25, 22.87]], [37, "success", null], [38, "lost_success", null], [39, "success", null], [42, "lost_success", null], [45, "success", null], [49, "lost_success", null], [50, "success", null], [53, "lost_success", null], [54, "success", null], [65, "lost_success", null], [68, "success", null], [71, "lost_success", null], [72, "success", null], [77, "lost_success", null], [79, "success", null], [82, "lost_success", null], [84, "success", null], [90, "lost_success", null], [91, "success", null], [[94, 95], "collision", [17.11, 17.49]], [96, "lost_success", null], [[96], "collision", [17.51]], [97, "success", null], [[97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [2.12, 2.68, 3.3, 0.96, 4.75, 8.19, 7.91, 8.08, 8.09, 7.8, 7.75]], [108, "lost_success", null], [[108], "collision", [7.96]], [109, "success", null], [[109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123], "collision", [8.14, 8.08, 8.04, 7.75, 7.92, 7.89, 8.01, 7.88, 7.67, 7.94, 8.08, 8.01, 7.93, 7.8, 8.0]], [124, "lost_success", null], [[124, 125], "collision", [7.98, 8.9]], [126, "success", null], [[126, 127, 128, 129], "collision", [11.14, 1.28, 13.8, 12.6]], [130, "lost_success", null], [[130, 131, 132], "collision", [12.52, 12.65, 12.86]], [133, "success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 141, 142], "collision", [12.62, 12.4, 12.58, 12.66, 12.41, 12.44, 12.58, 12.56, 12.63, 12.39]], [143, "lost_success", null], [[143], "collision", [12.6]], [144, "success", null], [[144, 145], "collision", [10.58, 10.44]], [146, "lost_success", null], [[146, 147], "collision", [10.33, 10.32]], [148, "success", null], [[148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [10.4, 10.28, 10.42, 10.25, 10.22, 10.29, 10.47, 10.37, 10.49, 10.52, 10.56, 10.52, 10.4, 10.5, 10.48, 10.66, 10.34, 10.41, 10.32, 10.3, 10.42, 10.36, 10.4, 10.49, 10.5, 10.48, 10.47]], [175, "lost_success", null], [[175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186], "collision", [10.49, 10.32, 10.42, 10.38, 10.42, 10.49, 10.43, 10.59, 10.71, 10.55, 10.49, 10.76]], [187, "success", null], [[187, 188, 189, 190, 191, 192], "collision", [10.62, 10.71, 10.58, 10.62, 10.78, 10.72]], [193, "lost_success", null], [[193, 194], "collision", [10.63, 10.81]], [195, "success", null], [[195], "collision", [10.46]], [196, "lost_success", null], [[196, 197], "collision", [10.67, 10.57]], [198, "success", null], [[198, 199], "collision", [10.71, 10.55]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 106, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 35, + "init_config_idx": 32, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[24, 25, 26, 27, 28, 30, 31, 33, 34, 35, 36, 37], "collision", [8.43, 201.16, 71.2, 120.45, 39.08, 0.01, 0.0, 0.37, 0.43, 0.42, 0.43, 0.39]], [56, "success", null], [[70, 71, 72, 74, 75, 76, 77, 78, 79, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 152, 153, 154], "collision", [56.57, 106.33, 74.04, 54.38, 73.27, 47.29, 39.8, 39.95, 38.63, 7.42, 16.31, 26.07, 20.29, 25.41, 22.86, 39.77, 37.18, 35.54, 36.7, 36.57, 31.69, 33.98, 71.09, 34.65, 34.32, 34.59, 51.25, 45.71, 47.29, 54.08, 54.52, 42.94, 47.33, 50.37, 46.24, 33.39, 40.39, 46.11, 54.96, 43.33, 46.47, 48.45, 43.6, 45.36, 73.84, 48.53, 40.26, 38.8, 29.16, 40.11, 32.09, 44.43, 38.26, 31.63, 30.11, 22.62, 29.89, 29.25, 22.84, 21.68, 26.35, 31.2, 31.11, 25.16, 22.25, 22.25, 18.17, 14.35, 25.29, 18.95, 15.91, 21.39, 8.08, 101.73, 39.7, 15.64, 14.71, 21.06, 16.84, 23.58]], [155, "lost_success", null], [156, "success", null], [[156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179], "collision", [48.66, 16.65, 19.38, 14.31, 21.27, 21.72, 34.2, 27.63, 32.37, 30.3, 34.27, 38.2, 34.59, 39.6, 35.54, 42.31, 49.35, 44.63, 48.7, 36.75, 33.39, 31.23, 27.36, 3.73]], [181, "lost_success", null], [184, "success", null], [[184, 185, 186, 187, 188], "collision", [32.35, 31.83, 32.77, 20.0, 16.08]], [189, "lost_success", null], [190, "success", null], [[190], "collision", [23.92]], [191, "lost_success", null], [[191], "collision", [16.73]], [192, "success", null], [[192, 193, 194, 195, 196, 197, 198, 199], "collision", [18.3, 22.74, 10.4, 21.16, 22.16, 19.61, 28.28, 27.51]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 107, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 2, + "init_config_idx": 16, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [30, "success", null], [38, "lost_success", null], [39, "success", null], [95, "lost_success", null], [99, "success", null], [115, "lost_success", null], [[127, 128, 129, 130], "collision", [54.36, 39.95, 38.09, 33.4]], [131, "success", null], [[131], "collision", [31.06]], [132, "lost_success", null], [[132], "collision", [32.51]], [133, "success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 141, 142], "collision", [34.72, 35.58, 36.69, 38.38, 36.31, 27.08, 34.18, 35.77, 36.25, 37.52]], [143, "lost_success", null], [[143, 144, 145, 146, 147, 148, 149, 150, 151], "collision", [40.35, 40.14, 38.01, 31.94, 41.35, 37.26, 36.3, 28.22, 29.84]], [152, "success", null], [[152, 153, 154, 155, 156], "collision", [38.99, 60.19, 58.85, 83.63, 78.18]], [158, "lost_success", null], [[159, 160, 162, 164, 165, 166, 168, 169, 170], "collision", [43.02, 37.83, 97.87, 24.79, 191.55, 71.99, 72.21, 31.22, 8.42]], [171, "success", null], [173, "lost_success", null], [174, "success", null], [[175], "collision", [386.76]], [177, "lost_success", null], [178, "success", null], [[183, 185, 187, 196], "collision", [281.51, 82.4, 74.17, 1078.71]], [197, "lost_success", null], [198, "success", null], [[199], "collision", [111.22]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 108, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 8, + "init_config_idx": 45, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "lost_contact", null], [23, "contact", null], [[32], "collision", [0.72]], [34, "lost_contact", null], [72, "contact", null], [75, "grasped", null], [111, "success", null], [115, "lost_success", null], [117, "success", null], [140, "lost_success", null], [141, "success", null], [165, "lost_success", null], [166, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 109, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 24, + "init_config_idx": 13, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [2114.63, 341.81]], [17, "contact", null], [18, "grasped", null], [[23, 24, 28, 29, 30, 31, 32, 33, 34, 35], "collision", [68.72, 67.67, 50.62, 90.45, 73.13, 70.84, 53.24, 67.98, 54.43, 51.26]], [37, "success", null], [[37, 39, 40, 41], "collision", [31.35, 48.89, 37.5, 42.18]], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [48, "success", null], [50, "lost_success", null], [51, "success", null], [55, "lost_success", null], [56, "success", null], [59, "lost_success", null], [61, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [65, "success", null], [66, "lost_success", null], [86, "success", null], [87, "lost_success", null], [102, "success", null], [127, "lost_success", null], [133, "success", null], [187, "lost_success", null], [193, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 110, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 35, + "init_config_idx": 28, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [25, "lost_contact", null], [[25], "collision", [0.03]], [26, "contact", null], [27, "grasped", null], [51, "success", null], [[60, 61, 62], "collision", [136.74, 178.96, 136.72]], [63, "lost_success", null], [[63], "collision", [136.69]], [64, "success", null], [[64, 65, 68, 69, 70, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120], "collision", [86.88, 2.81, 17.84, 12.33, 12.54, 10.39, 25.24, 17.1, 19.25, 6.15, 10.47, 10.36, 16.18, 7.67, 14.28, 2.75, 5.33, 9.94, 10.27, 9.29, 16.44, 29.43, 28.74, 16.9, 34.47, 16.12, 24.81, 39.3, 23.39, 28.93, 11.67, 14.43, 23.58, 30.55, 35.04, 26.07, 19.23, 19.39]], [121, "lost_success", null], [[121], "collision", [40.01]], [122, "success", null], [[122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [19.78, 34.27, 36.63, 31.17, 23.91, 38.31, 34.4, 31.84, 20.46, 31.61, 32.0, 26.87, 20.2]], [135, "lost_success", null], [[135], "collision", [13.78]], [136, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 111, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 18, + "init_config_idx": 18, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 15], "collision", [107.05, 197.65, 196.02, 297.19, 146.3]], [16, "contact", null], [[16], "collision", [597.38]], [17, "grasped", null], [37, "success", null], [57, "lost_success", null], [58, "success", null], [64, "lost_success", null], [67, "success", null], [77, "lost_success", null], [78, "success", null], [82, "lost_success", null], [83, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 112, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 13, + "init_config_idx": 27, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [26, "lost_contact", null], [27, "contact", null], [28, "grasped", null], [[39], "collision", [51.47]], [48, "success", null], [59, "lost_success", null], [69, "success", null], [72, "lost_success", null], [73, "success", null], [75, "lost_success", null], [83, "success", null], [90, "lost_success", null], [117, "success", null], [118, "lost_success", null], [176, "success", null], [177, "lost_success", null], [185, "success", null], [186, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 113, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 5, + "init_config_idx": 20, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [[28], "collision", [471.67]], [39, "success", null], [41, "lost_success", null], [45, "success", null], [73, "lost_success", null], [81, "success", null], [86, "lost_success", null], [95, "success", null], [97, "lost_success", null], [118, "success", null], [132, "lost_success", null], [138, "success", null], [196, "lost_success", null], [197, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 114, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 33, + "init_config_idx": 31, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [34, "grasped", null], [92, "success", null], [108, "lost_success", null], [121, "success", null], [[165], "collision", [0.45]], [166, "lost_success", null], [[166, 167], "collision", [1.43, 0.6]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 115, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 26, + "init_config_idx": 12, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 15, 17], "collision", [1577.28, 242.65, 190.01, 1.29, 72.07, 2.28]], [18, "contact", null], [[18, 19], "collision", [284.26, 146.6]], [20, "grasped", null], [[20, 21], "collision", [128.17, 12.89]], [34, "success", null], [35, "lost_success", null], [38, "success", null], [42, "lost_success", null], [43, "success", null], [97, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 116, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 45, + "init_config_idx": 55, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8], "collision", [247.99, 231.82, 182.38]], [13, "contact", null], [13, "grasped", null], [29, "success", null], [37, "lost_success", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [44, "lost_success", null], [52, "success", null], [60, "lost_success", null], [62, "success", null], [80, "lost_success", null], [82, "success", null], [83, "lost_success", null], [86, "success", null], [97, "lost_success", null], [98, "success", null], [118, "lost_success", null], [120, "success", null], [126, "lost_success", null], [127, "success", null], [138, "lost_success", null], [141, "success", null], [166, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 117, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 16, + "init_config_idx": 14, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [23, "lost_contact", null], [27, "contact", null], [29, "grasped", null], [56, "success", null], [62, "lost_success", null], [64, "success", null], [65, "lost_success", null], [67, "success", null], [78, "lost_success", null], [79, "success", null], [[79], "collision", [166.54]], [80, "lost_success", null], [[80], "collision", [190.02]], [81, "success", null], [[81, 82, 83, 84], "collision", [4.63, 233.48, 304.53, 67.63]], [85, "lost_success", null], [[85], "collision", [38.99]], [86, "success", null], [[86, 87, 88, 89, 90], "collision", [76.16, 28.74, 90.65, 1.36, 32.94]], [94, "lost_success", null], [97, "success", null], [113, "lost_success", null], [119, "success", null], [139, "lost_success", null], [145, "success", null], [147, "lost_success", null], [150, "success", null], [182, "lost_success", null], [186, "success", null], [187, "lost_success", null], [193, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 118, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 30, + "init_config_idx": 18, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [258.2]], [18, "contact", null], [19, "grasped", null], [40, "success", null], [44, "lost_success", null], [45, "success", null], [61, "lost_success", null], [74, "success", null], [77, "lost_success", null], [92, "success", null], [93, "lost_success", null], [94, "success", null], [95, "lost_success", null], [96, "success", null], [99, "lost_success", null], [102, "success", null], [118, "lost_success", null], [122, "success", null], [133, "lost_success", null], [134, "success", null], [136, "lost_success", null], [[146, 147, 148, 149, 150, 151, 152, 153, 155, 157], "collision", [42.99, 38.4, 41.83, 5.15, 41.73, 18.99, 27.41, 24.58, 13.56, 25.86]], [158, "success", null], [164, "lost_success", null], [[173, 183], "collision", [88.84, 102.6]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 119, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 6, + "init_config_idx": 43, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 19, 20], "collision", [210.88, 693.9, 440.27, 2766.37, 8.87]], [21, "contact", null], [[21], "collision", [188.81]], [22, "grasped", null], [[23], "collision", [0.12]], [51, "success", null], [52, "lost_success", null], [58, "success", null], [59, "lost_success", null], [60, "success", null], [65, "lost_success", null], [68, "success", null], [69, "lost_success", null], [98, "success", null], [103, "lost_success", null], [104, "success", null], [107, "lost_success", null], [108, "success", null], [116, "lost_success", null], [121, "success", null], [148, "lost_success", null], [154, "success", null], [160, "lost_success", null], [169, "success", null], [179, "lost_success", null], [184, "success", null], [185, "lost_success", null], [193, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 120, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 46, + "init_config_idx": 25, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [[30, 31, 32, 33], "collision", [83.9, 103.46, 101.14, 77.02]], [37, "success", null], [38, "lost_success", null], [39, "success", null], [47, "lost_success", null], [48, "success", null], [[96, 97, 98, 99, 100, 101, 102, 104, 108, 112, 113], "collision", [295.86, 162.72, 211.79, 347.13, 266.18, 206.95, 227.22, 125.18, 162.71, 103.58, 44.84]], [118, "lost_success", null], [124, "success", null], [146, "lost_success", null], [147, "success", null], [160, "lost_success", null], [169, "success", null], [189, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 121, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 33, + "init_config_idx": 9, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [24, "grasped", null], [[35, 36], "collision", [224.17, 97.07]], [44, "success", null], [52, "lost_success", null], [64, "success", null], [66, "lost_success", null], [73, "success", null], [76, "lost_success", null], [181, "success", null], [189, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 122, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 11, + "init_config_idx": 7, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [21, "lost_contact", null], [23, "contact", null], [24, "grasped", null], [[31, 32, 33], "collision", [149.63, 120.68, 93.19]], [40, "success", null], [53, "lost_success", null], [56, "success", null], [69, "lost_success", null], [72, "success", null], [86, "lost_success", null], [99, "success", null], [109, "lost_success", null], [110, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 123, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 33, + "init_config_idx": 11, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [10, "grasped", null], [23, "success", null], [28, "lost_success", null], [29, "success", null], [30, "lost_success", null], [32, "success", null], [160, "lost_success", null], [166, "success", null], [181, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 124, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 50, + "init_config_idx": 5, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [43, "success", null], [54, "lost_success", null], [58, "success", null], [63, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 125, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 18, + "init_config_idx": 34, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [[22], "collision", [2490.56]], [46, "success", null], [[75, 76, 77, 78, 79, 80, 82, 83, 84, 85, 87, 88, 89, 93, 94, 95, 96, 97, 98], "collision", [88.2, 78.06, 53.47, 41.86, 110.33, 59.68, 71.02, 139.99, 86.42, 47.02, 12.31, 84.81, 31.74, 53.15, 31.08, 11.4, 62.37, 25.52, 27.18]], [128, "lost_success", null], [134, "success", null], [138, "lost_success", null], [139, "success", null], [140, "lost_success", null], [144, "success", null], [169, "lost_success", null], [187, "success", null], [195, "lost_success", null], [197, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 126, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 33, + "init_config_idx": 32, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[24, 26, 27, 28], "collision", [0.42, 0.02, 0.21, 0.34]], [42, "success", null], [44, "lost_success", null], [[48, 49, 50, 51, 52, 53, 54, 55, 56, 57], "collision", [29.21, 2.77, 1.93, 2.08, 2.3, 1.39, 0.93, 0.92, 0.62, 0.78]], [58, "success", null], [[58, 59, 60, 61], "collision", [0.72, 0.76, 0.8, 2.61]], [62, "lost_success", null], [[62, 63], "collision", [1.2, 1.19]], [64, "success", null], [[64, 65, 66, 67], "collision", [1.08, 1.01, 1.1, 1.31]], [68, "lost_success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [1.33, 1.21, 1.32, 1.41, 1.51, 1.45, 1.28, 1.17, 1.27, 1.2, 1.02, 1.12, 1.14, 1.17, 1.17, 1.02, 1.27, 1.08, 0.99, 1.07, 1.26, 1.24, 1.19, 1.16, 1.07, 1.19, 1.14, 1.09, 1.05, 1.05, 1.0, 1.04, 1.17, 1.15, 1.21, 1.2, 1.09, 1.0]], [106, "success", null], [[106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [0.97, 1.07, 0.97, 0.27, 0.28, 0.27, 0.37, 0.39, 0.16]], [136, "lost_success", null], [[136, 137, 138, 139, 140, 141, 142], "collision", [2.88, 2.85, 2.97, 1.84, 1.97, 2.04, 2.42]], [143, "success", null], [[143], "collision", [1.99]], [144, "lost_success", null], [[144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [2.2, 2.02, 2.32, 3.06, 2.82, 2.06, 3.1, 2.39, 2.65, 2.19, 2.86, 2.57, 2.87, 2.54, 2.52, 2.55, 2.76, 2.49, 2.83, 2.18, 2.42, 2.52, 2.58, 2.51, 2.33, 2.51, 2.33, 2.26, 2.7, 2.69, 2.57, 2.82, 3.01, 3.17, 2.56, 2.61, 2.76, 2.28, 2.34, 3.24, 2.65, 3.27, 2.38, 2.36, 1.77, 2.32, 2.14, 1.38, 1.59, 1.18, 1.14, 1.09, 1.17, 1.08, 1.2, 1.21]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 127, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 9, + "init_config_idx": 11, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [26, "grasped", null], [50, "success", null], [63, "lost_success", null], [65, "success", null], [94, "lost_success", null], [98, "success", null], [103, "lost_success", null], [110, "success", null], [117, "lost_success", null], [118, "success", null], [119, "lost_success", null], [120, "success", null], [127, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 128, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 12, + "init_config_idx": 2, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 16, 18], "collision", [617.77, 96.51, 150.95, 151.89]], [22, "contact", null], [25, "grasped", null], [47, "success", null], [51, "lost_success", null], [52, "success", null], [58, "lost_success", null], [60, "success", null], [61, "lost_success", null], [64, "success", null], [65, "lost_success", null], [84, "success", null], [95, "lost_success", null], [96, "success", null], [128, "lost_success", null], [136, "success", null], [137, "lost_success", null], [138, "success", null], [139, "lost_success", null], [143, "success", null], [170, "lost_success", null], [172, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 129, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 18, + "init_config_idx": 6, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [441.48]], [22, "contact", null], [23, "grasped", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [53, "lost_success", null], [58, "success", null], [59, "lost_success", null], [78, "success", null], [117, "lost_success", null], [118, "success", null], [119, "lost_success", null], [120, "success", null], [122, "lost_success", null], [123, "success", null], [161, "lost_success", null], [172, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 130, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 14, + "init_config_idx": 9, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [[21, 22, 23, 24], "collision", [0.29, 64.97, 109.61, 68.65]], [27, "success", null], [36, "lost_success", null], [40, "success", null], [47, "lost_success", null], [59, "success", null], [[60, 61, 62, 63, 64, 65, 66, 67, 69, 71, 74, 76, 78, 80, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [32.24, 123.92, 122.4, 107.14, 170.21, 107.7, 88.56, 123.77, 169.05, 110.82, 281.21, 236.9, 363.49, 260.8, 79.77, 65.93, 92.76, 59.45, 78.61, 192.66, 12.55, 93.18, 199.35, 94.99, 67.33, 62.69]], [99, "lost_success", null], [110, "success", null], [127, "lost_success", null], [138, "success", null], [143, "lost_success", null], [158, "success", null], [165, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 131, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 45, + "init_config_idx": 43, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [10, "lost_contact", null], [11, "contact", null], [11, "grasped", null], [24, "success", null], [41, "lost_success", null], [43, "success", null], [46, "lost_success", null], [47, "success", null], [61, "lost_success", null], [67, "success", null], [68, "lost_success", null], [71, "success", null], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [83, "success", null], [84, "lost_success", null], [156, "success", null], [164, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 132, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 10, + "init_config_idx": 24, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [10, "grasped", null], [[10, 13, 14, 15, 16, 17, 18, 19, 20, 21], "collision", [1.38, 0.16, 0.23, 0.27, 0.23, 0.31, 0.23, 0.21, 0.22, 10.59]], [22, "success", null], [[22, 23, 24, 25, 26, 27, 28, 29], "collision", [12.45, 10.36, 11.59, 14.87, 15.88, 14.08, 6.29, 18.65]], [30, "lost_success", null], [[30], "collision", [7.0]], [31, "success", null], [[31, 32, 33, 34], "collision", [7.0, 12.18, 14.85, 15.48]], [35, "lost_success", null], [[35, 36, 37, 38, 39, 40, 41, 42], "collision", [15.0, 15.8, 16.26, 16.63, 18.05, 18.31, 15.92, 33.77]], [43, "success", null], [[43], "collision", [34.08]], [44, "lost_success", null], [[44], "collision", [41.07]], [45, "success", null], [[45, 46, 47, 48, 49, 50], "collision", [31.65, 34.01, 23.67, 31.22, 25.8, 33.89]], [51, "lost_success", null], [[51, 52, 53, 54, 55], "collision", [22.42, 22.75, 23.67, 21.47, 20.35]], [56, "success", null], [[56, 57, 58, 59, 60], "collision", [28.66, 9.96, 13.99, 16.8, 14.7]], [61, "lost_success", null], [[61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [0.19, 0.19, 0.26, 0.17, 0.21, 0.2, 0.15, 0.14, 0.16, 0.23, 0.24, 0.23, 0.25, 0.24, 0.26, 0.26, 0.25]], [78, "success", null], [[78], "collision", [0.25]], [79, "lost_success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [0.2, 0.18, 0.22, 0.16, 0.22, 0.18, 0.19, 0.21, 0.25, 0.22, 0.34, 0.33, 0.28, 0.33, 0.31, 0.21]], [95, "success", null], [[95, 96], "collision", [0.17, 0.28]], [97, "lost_success", null], [[97, 98], "collision", [0.28, 0.29]], [99, "success", null], [[99, 100, 101, 102], "collision", [0.28, 0.27, 0.25, 0.29]], [103, "lost_success", null], [[103], "collision", [0.3]], [104, "success", null], [[104, 105, 106], "collision", [0.29, 0.3, 0.29]], [107, "lost_success", null], [[107], "collision", [0.28]], [108, "success", null], [[108, 109, 110, 111, 112], "collision", [0.33, 0.32, 0.31, 0.33, 0.29]], [113, "lost_success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131], "collision", [0.3, 0.28, 0.29, 0.31, 0.3, 0.32, 0.32, 0.33, 0.33, 0.3, 0.36, 0.33, 0.3, 0.34, 0.37, 0.34, 0.3, 0.33, 0.32]], [132, "success", null], [[132], "collision", [0.28]], [133, "lost_success", null], [[133], "collision", [0.36]], [134, "success", null], [[134, 135, 136, 137], "collision", [0.34, 0.32, 0.29, 0.34]], [138, "lost_success", null], [[138], "collision", [0.28]], [139, "success", null], [[139, 140, 141, 142], "collision", [0.27, 0.3, 0.32, 0.32]], [143, "lost_success", null], [[143, 144, 145, 146, 147, 148], "collision", [0.32, 0.3, 0.31, 0.34, 0.32, 0.32]], [149, "success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157], "collision", [0.31, 0.3, 0.31, 0.31, 0.3, 0.29, 0.29, 0.28, 0.28]], [158, "lost_success", null], [[158], "collision", [0.3]], [159, "success", null], [[159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [0.31, 0.32, 0.3, 0.3, 0.3, 0.31, 0.29, 0.32, 0.31, 0.29, 0.29, 0.28, 0.31, 0.29, 0.27, 0.28, 0.29, 0.29, 0.3, 0.31, 0.31, 0.32, 0.32, 0.31, 0.32, 0.34, 0.31, 0.3, 0.3, 0.28, 0.31, 0.3, 0.28, 0.31, 0.33]], [194, "lost_success", null], [[194], "collision", [0.31]], [195, "success", null], [[195, 196, 197, 198, 199], "collision", [0.3, 0.32, 0.31, 0.32, 0.3]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 133, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 32, + "init_config_idx": 13, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 15, 16, 22], "collision", [134.38, 209.93, 450.6, 65.44]], [23, "contact", null], [[23], "collision", [3628.93]], [24, "grasped", null], [59, "success", null], [64, "lost_success", null], [65, "success", null], [69, "lost_success", null], [78, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 134, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 19, + "init_config_idx": 30, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17], "collision", [377.87, 266.59, 208.18, 121.71, 313.44, 403.45, 85.47, 193.33, 128.44, 69.82, 57.66, 698.14]], [21, "contact", null], [21, "grasped", null], [[24, 25], "collision", [976.46, 175.71]], [34, "success", null], [[36], "collision", [8.46]], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [57, "lost_success", null], [58, "success", null], [60, "lost_success", null], [62, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [69, "success", null], [73, "lost_success", null], [74, "success", null], [88, "lost_success", null], [91, "success", null], [92, "lost_success", null], [93, "success", null], [101, "lost_success", null], [107, "success", null], [130, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 135, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 0, + "init_config_idx": 31, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 15, 16], "collision", [913.09, 712.03, 859.62, 136.05]], [21, "contact", null], [22, "grasped", null], [[24], "collision", [2.96]], [50, "success", null], [85, "lost_success", null], [[85, 86, 87], "collision", [28.04, 35.98, 40.07]], [88, "success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106], "collision", [33.14, 25.41, 9.9, 28.71, 62.09, 42.97, 38.84, 33.95, 28.27, 30.65, 21.88, 26.37, 37.09, 36.3, 50.34, 44.44, 41.47, 44.67, 29.21]], [107, "lost_success", null], [[107, 108, 110, 111, 112, 113, 114, 115], "collision", [37.56, 18.52, 23.03, 27.78, 31.64, 45.77, 48.13, 53.97]], [116, "success", null], [[116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [50.89, 38.04, 39.23, 53.42, 55.04, 45.2, 49.84, 48.31, 44.33, 40.88, 47.91, 28.46, 26.62, 23.38, 10.98, 29.45, 32.46, 33.89, 39.9, 51.89, 43.73, 48.33, 41.26, 44.27, 30.58, 48.31, 42.51, 35.61, 30.56]], [149, "lost_success", null], [[149], "collision", [13.71]], [151, "success", null], [152, "lost_success", null], [153, "success", null], [154, "lost_success", null], [159, "success", null], [166, "lost_success", null], [168, "success", null], [170, "lost_success", null], [175, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 136, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 22, + "init_config_idx": 29, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[24, 25, 26], "collision", [109.4, 88.98, 18.23]], [27, "contact", null], [[27, 28], "collision", [20.98, 21.91]], [29, "grasped", null], [[29, 45, 46, 47, 48, 49, 50, 51, 52], "collision", [8.37, 0.0, 0.01, 0.02, 0.03, 0.03, 0.03, 0.02, 0.02]], [53, "success", null], [[53], "collision", [0.03]], [54, "lost_success", null], [[54, 55], "collision", [0.03, 0.03]], [56, "success", null], [[56, 57], "collision", [0.03, 0.02]], [58, "lost_success", null], [[58], "collision", [0.03]], [59, "success", null], [[59, 60, 61], "collision", [0.02, 13.59, 3.64]], [62, "lost_success", null], [[62, 63, 64, 65, 66, 67, 68], "collision", [30.98, 53.53, 55.78, 85.51, 51.49, 63.35, 59.19]], [69, "success", null], [[69], "collision", [72.77]], [70, "lost_success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81], "collision", [78.92, 52.08, 75.58, 68.52, 57.75, 49.71, 63.41, 61.14, 70.13, 57.38, 67.51, 58.04]], [82, "success", null], [[82, 83, 84], "collision", [48.2, 54.98, 54.24]], [85, "lost_success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 97, 98, 99], "collision", [49.92, 45.52, 54.74, 24.68, 33.47, 38.11, 19.77, 29.25, 4.95, 38.44, 29.48, 0.01, 0.0, 0.0]], [101, "success", null], [[102, 103, 104, 105], "collision", [0.0, 0.01, 0.0, 0.01]], [106, "lost_success", null], [[106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118], "collision", [0.02, 0.02, 0.02, 0.02, 0.02, 0.01, 0.01, 0.0, 0.0, 0.01, 0.01, 0.01, 0.01]], [119, "success", null], [[119, 120, 121, 122], "collision", [0.01, 0.02, 0.01, 0.01]], [124, "lost_success", null], [[125, 126], "collision", [0.0, 0.0]], [127, "success", null], [[127, 129, 130, 131, 135, 136, 140], "collision", [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], [142, "lost_success", null], [143, "success", null], [144, "lost_success", null], [145, "success", null], [[146, 147], "collision", [0.0, 0.01]], [148, "lost_success", null], [[148, 149, 150, 151, 152, 154, 155, 156, 164, 165, 166, 167, 168, 173, 175, 176, 177, 178, 179], "collision", [0.01, 0.01, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], [184, "success", null], [195, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 137, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 28, + "init_config_idx": 27, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8], "collision", [1124.9, 146.13, 240.22]], [9, "contact", null], [10, "grasped", null], [44, "success", null], [47, "lost_success", null], [48, "success", null], [58, "lost_success", null], [60, "success", null], [69, "lost_success", null], [83, "success", null], [86, "lost_success", null], [93, "success", null], [102, "lost_success", null], [106, "success", null], [128, "lost_success", null], [[190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [643.91, 289.28, 186.99, 205.03, 201.2, 201.1, 193.23, 148.2, 178.54, 188.74]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 138, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 5, + "init_config_idx": 18, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [195, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 139, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 50, + "init_config_idx": 23, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43], "collision", [73.79, 74.61, 88.72, 93.44, 90.23, 107.05, 92.1, 98.38, 107.65, 107.37, 96.2]], [50, "success", null], [59, "lost_success", null], [60, "success", null], [[77, 79], "collision", [75.92, 43.2]], [90, "lost_success", null], [103, "success", null], [109, "lost_success", null], [116, "success", null], [[148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159], "collision", [8.53, 9.14, 7.35, 7.34, 6.9, 7.61, 6.85, 6.45, 7.13, 7.86, 8.93, 9.08]], [160, "lost_success", null], [[160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [8.83, 9.69, 8.58, 7.37, 7.16, 7.37, 7.07, 7.21, 7.17, 5.9]], [170, "success", null], [[170, 171, 172, 173], "collision", [5.53, 5.52, 6.56, 5.73]], [174, "lost_success", null], [[174], "collision", [5.96]], [175, "success", null], [[175], "collision", [4.78]], [192, "lost_success", null], [[192, 193, 194], "collision", [7.29, 6.57, 5.42]], [195, "success", null], [[195], "collision", [5.57]], [196, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 140, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 7, + "init_config_idx": 30, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [[66, 71, 73, 75, 76, 77, 79, 80, 81, 84, 85, 87, 89, 90, 93, 99, 102], "collision", [251.87, 0.24, 1.05, 17.07, 43.58, 7.13, 33.04, 6.43, 26.65, 9.77, 33.94, 32.26, 19.17, 23.43, 21.43, 60.73, 19.2]], [107, "success", null], [121, "lost_success", null], [128, "success", null], [[130, 131], "collision", [16.17, 13.92]], [132, "lost_success", null], [[132], "collision", [12.04]], [133, "success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 143, 144, 148, 149, 150, 151], "collision", [11.31, 12.65, 13.49, 13.84, 82.0, 98.21, 47.39, 66.07, 15.24, 16.75, 33.11, 13.09, 9.39, 6.77]], [154, "lost_success", null], [191, "success", null], [195, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 141, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 45, + "init_config_idx": 24, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [1745.87, 234.41, 66.91, 115.59]], [11, "contact", null], [11, "grasped", null], [[13], "collision", [300.36]], [40, "success", null], [44, "lost_success", null], [48, "success", null], [55, "lost_success", null], [57, "success", null], [71, "lost_success", null], [81, "success", null], [82, "lost_success", null], [87, "success", null], [91, "lost_success", null], [99, "success", null], [108, "lost_success", null], [109, "success", null], [120, "lost_success", null], [121, "success", null], [124, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 142, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 27, + "init_config_idx": 31, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [44, "success", null], [49, "lost_success", null], [79, "success", null], [81, "lost_success", null], [82, "success", null], [83, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 143, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 28, + "init_config_idx": 9, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7], "collision", [167.53]], [9, "contact", null], [10, "grasped", null], [30, "success", null], [36, "lost_success", null], [39, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [66, "lost_success", null], [69, "success", null], [89, "lost_success", null], [96, "success", null], [99, "lost_success", null], [102, "success", null], [119, "lost_success", null], [[198, 199], "collision", [64.95, 61.38]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 144, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 53, + "init_config_idx": 8, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[1, 2, 3, 6, 7, 8, 9, 10, 11], "collision", [807.7, 285.49, 822.42, 263.83, 237.4, 168.86, 111.21, 80.88, 159.39]], [12, "contact", null], [[16], "collision", [14.1]], [18, "grasped", null], [37, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [65, "success", null], [108, "lost_success", null], [115, "success", null], [178, "lost_success", null], [179, "success", null], [181, "lost_success", null], [182, "success", null], [183, "lost_success", null], [186, "success", null], [187, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 145, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 15, + "init_config_idx": 42, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6, 8, 9, 10], "collision", [639.13, 298.21, 346.32, 304.14, 184.72, 204.06, 179.06]], [15, "contact", null], [[15], "collision", [749.81]], [17, "grasped", null], [[22, 35], "collision", [29.79, 0.15]], [36, "success", null], [[36], "collision", [0.06]], [37, "lost_success", null], [[37], "collision", [0.07]], [38, "success", null], [[38], "collision", [0.05]], [40, "lost_success", null], [45, "success", null], [54, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [[59, 60, 61, 62, 66, 67, 68, 69, 70, 71, 72, 74], "collision", [0.04, 0.03, 0.03, 0.03, 0.03, 0.02, 0.02, 0.03, 0.03, 0.03, 0.03, 0.03]], [81, "lost_success", null], [82, "success", null], [88, "lost_success", null], [91, "success", null], [[108, 109, 110], "collision", [0.08, 0.27, 0.12]], [111, "lost_success", null], [[111, 112, 113, 114, 115, 116, 117, 118, 119, 120], "collision", [0.14, 0.14, 0.14, 0.13, 0.13, 0.1, 0.11, 0.12, 0.12, 0.12]], [160, "success", null], [162, "lost_success", null], [172, "success", null], [191, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 146, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 13, + "init_config_idx": 11, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 5, 6], "collision", [309.41, 108.31, 224.43, 319.92]], [14, "contact", null], [15, "grasped", null], [38, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [90, "success", null], [104, "lost_success", null], [108, "success", null], [128, "lost_success", null], [129, "success", null], [135, "lost_success", null], [198, "success", null], [[198, 199], "collision", [429.58, 257.81]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 147, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 46, + "init_config_idx": 52, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [45, "success", null], [46, "lost_success", null], [61, "success", null], [63, "lost_success", null], [70, "success", null], [72, "lost_success", null], [98, "success", null], [102, "lost_success", null], [108, "success", null], [110, "lost_success", null], [111, "success", null], [113, "lost_success", null], [121, "success", null], [129, "lost_success", null], [131, "success", null], [132, "lost_success", null], [133, "success", null], [134, "lost_success", null], [141, "success", null], [144, "lost_success", null], [145, "success", null], [147, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 148, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 38, + "init_config_idx": 36, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 12, 13, 14, 17], "collision", [139.05, 178.18, 149.65, 246.77, 224.32, 244.66]], [19, "contact", null], [19, "grasped", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [41, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [68, "lost_success", null], [86, "success", null], [90, "lost_success", null], [91, "success", null], [99, "lost_success", null], [124, "success", null], [128, "lost_success", null], [177, "success", null], [179, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 149, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 13, + "init_config_idx": 0, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19], "collision", [234.18, 585.88, 148.75, 151.0, 276.21, 152.65, 128.14, 761.58, 215.75, 34.01, 101.99]], [20, "contact", null], [20, "grasped", null], [39, "success", null], [40, "lost_success", null], [43, "success", null], [45, "lost_success", null], [46, "success", null], [48, "lost_success", null], [52, "success", null], [91, "lost_success", null], [112, "success", null], [114, "lost_success", null], [153, "success", null], [158, "lost_success", null], [164, "success", null], [165, "lost_success", null], [170, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 150, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 29, + "init_config_idx": 12, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [102.22]], [17, "contact", null], [[17], "collision", [499.32]], [18, "grasped", null], [[26], "collision", [88.08]], [58, "success", null], [64, "lost_success", null], [66, "success", null], [[66, 67, 68, 69], "collision", [6.81, 48.37, 57.69, 46.22]], [70, "lost_success", null], [[70], "collision", [57.8]], [71, "success", null], [[71], "collision", [55.05]], [72, "lost_success", null], [[72], "collision", [116.86]], [73, "success", null], [[73, 74, 75, 76, 78, 79, 80, 81, 82, 83, 84, 87, 88, 89], "collision", [93.22, 60.26, 79.38, 74.68, 100.4, 88.1, 115.51, 133.95, 94.58, 110.56, 71.29, 77.02, 79.2, 60.05]], [188, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 151, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 40, + "init_config_idx": 37, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [13, "lost_contact", null], [14, "contact", null], [[14, 15], "collision", [6.09, 4.59]], [18, "grasped", null], [[28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [0.26, 0.12, 0.12, 0.12, 0.11, 0.19, 0.16, 0.1, 0.22]], [37, "success", null], [[37, 38, 39], "collision", [0.17, 0.29, 0.06]], [43, "lost_success", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [55, "success", null], [56, "lost_success", null], [68, "success", null], [69, "lost_success", null], [71, "success", null], [95, "lost_success", null], [97, "success", null], [98, "lost_success", null], [[98, 99], "collision", [45.21, 91.18]], [100, "success", null], [[100, 101, 102, 103], "collision", [68.43, 39.31, 35.96, 33.94]], [109, "lost_success", null], [110, "success", null], [118, "lost_success", null], [119, "success", null], [[119], "collision", [0.36]], [120, "lost_success", null], [[120, 121, 122, 123], "collision", [0.14, 0.05, 0.26, 0.44]], [124, "success", null], [[124], "collision", [0.36]], [125, "lost_success", null], [[125, 126], "collision", [0.34, 0.33]], [127, "success", null], [[127, 128, 129, 130], "collision", [0.2, 0.54, 0.1, 0.3]], [131, "lost_success", null], [[131, 132], "collision", [0.09, 0.27]], [133, "success", null], [[133, 134], "collision", [0.24, 0.07]], [135, "lost_success", null], [[135, 136, 137, 138], "collision", [0.19, 0.2, 0.29, 0.43]], [139, "success", null], [[139, 140, 141], "collision", [0.19, 0.36, 0.16]], [142, "lost_success", null], [[142, 143], "collision", [0.09, 0.15]], [144, "success", null], [[144], "collision", [0.08]], [145, "lost_success", null], [[145], "collision", [0.05]], [146, "success", null], [[146, 147], "collision", [0.08, 0.24]], [148, "lost_success", null], [[148, 149, 150, 151, 152, 153, 154, 155], "collision", [0.26, 0.29, 0.22, 0.37, 0.42, 0.09, 0.18, 0.06]], [156, "success", null], [[156], "collision", [0.07]], [157, "lost_success", null], [[157], "collision", [0.13]], [158, "success", null], [[158, 159, 160, 161, 162], "collision", [0.11, 0.49, 0.08, 0.07, 0.46]], [163, "lost_success", null], [[163, 164, 165, 166, 167, 168], "collision", [0.06, 0.15, 0.08, 0.11, 0.05, 0.32]], [169, "success", null], [[169, 170, 171], "collision", [0.05, 0.08, 0.03]], [194, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 152, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 49, + "init_config_idx": 30, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15], "collision", [38.96, 168.2, 95.22, 196.62]], [17, "contact", null], [19, "lost_contact", null], [22, "contact", null], [23, "grasped", null], [[24], "collision", [6.31]], [52, "success", null], [53, "lost_success", null], [57, "success", null], [[58, 60, 61], "collision", [792.61, 37.86, 7.55]], [67, "lost_success", null], [69, "success", null], [[77, 78, 81, 82, 84, 85, 86, 88, 89, 90, 91, 92], "collision", [249.21, 162.52, 1.38, 116.3, 4.4, 41.74, 5.07, 142.72, 71.59, 211.24, 96.81, 90.03]], [93, "lost_success", null], [100, "success", null], [103, "lost_success", null], [105, "success", null], [109, "lost_success", null], [147, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 153, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 29, + "init_config_idx": 21, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [35, "success", null], [43, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [55, "success", null], [[55, 56, 57, 58], "collision", [82.03, 40.87, 7.8, 11.8]], [59, "lost_success", null], [[59, 60], "collision", [24.02, 1.12]], [61, "success", null], [[61], "collision", [15.3]], [62, "lost_success", null], [[62], "collision", [92.09]], [63, "success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [63.11, 50.29, 45.61, 49.79, 44.89, 49.65, 34.16, 26.27, 36.18, 40.96, 46.9, 33.76, 29.93, 33.72, 28.75, 31.13, 43.75, 35.29, 40.97, 41.62, 32.1, 24.28, 40.0, 53.69, 43.76, 37.54, 30.87, 22.19, 18.38, 27.42, 30.06, 34.02, 32.18, 32.05, 22.02, 20.19, 30.79]], [100, "lost_success", null], [[100], "collision", [26.31]], [117, "success", null], [130, "lost_success", null], [133, "success", null], [177, "lost_success", null], [180, "success", null], [185, "lost_success", null], [191, "success", null], [195, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 154, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 2, + "init_config_idx": 17, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [42, "success", null], [74, "lost_success", null], [79, "success", null], [91, "lost_success", null], [[97], "collision", [17.36]], [118, "success", null], [120, "lost_success", null], [123, "success", null], [126, "lost_success", null], [128, "success", null], [130, "lost_success", null], [131, "success", null], [[133, 134, 136], "collision", [5.38, 3.88, 2.22]], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [143, "success", null], [144, "lost_success", null], [145, "success", null], [154, "lost_success", null], [162, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [166, "success", null], [167, "lost_success", null], [170, "success", null], [172, "lost_success", null], [173, "success", null], [187, "lost_success", null], [192, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 155, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 44, + "init_config_idx": 14, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [25, "success", null], [27, "lost_success", null], [[53, 54], "collision", [17.52, 5.92]], [55, "success", null], [[55], "collision", [6.48]], [56, "lost_success", null], [[56, 57, 58, 59], "collision", [6.4, 6.4, 6.57, 283.2]], [62, "success", null], [[62, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [8.43, 20.95, 15.78, 9.9, 12.68, 40.19, 11.44, 9.84, 11.0, 8.09, 7.72, 7.98, 8.63, 8.65, 7.94, 9.57, 9.11, 9.25]], [83, "lost_success", null], [85, "success", null], [[86, 87, 88, 89, 90], "collision", [8.72, 8.72, 9.61, 9.23, 8.67]], [91, "lost_success", null], [[91], "collision", [9.0]], [92, "success", null], [[92, 93], "collision", [8.34, 9.51]], [94, "lost_success", null], [[94], "collision", [6.59]], [95, "success", null], [[95], "collision", [5.43]], [107, "lost_success", null], [108, "success", null], [116, "lost_success", null], [130, "success", null], [131, "lost_success", null], [140, "success", null], [157, "lost_success", null], [165, "success", null], [171, "lost_success", null], [182, "success", null], [187, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 156, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 48, + "init_config_idx": 15, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [325.02]], [22, "contact", null], [23, "grasped", null], [[26, 27, 28], "collision", [0.8, 14.56, 131.45]], [47, "success", null], [51, "lost_success", null], [56, "success", null], [59, "lost_success", null], [60, "success", null], [65, "lost_success", null], [[65], "collision", [77.8]], [67, "success", null], [[69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [52.0, 45.35, 30.67, 22.65, 29.6, 25.98, 25.47, 21.89, 18.79]], [78, "lost_success", null], [[78, 79, 80], "collision", [13.85, 14.44, 15.1]], [81, "success", null], [[81, 82, 83, 84, 85], "collision", [40.04, 27.26, 34.02, 35.24, 29.29]], [86, "lost_success", null], [[86, 87, 88], "collision", [15.91, 29.67, 39.37]], [89, "success", null], [[89, 90], "collision", [59.99, 31.26]], [91, "lost_success", null], [[91, 92], "collision", [30.78, 0.77]], [93, "success", null], [[93, 94], "collision", [37.41, 45.07]], [95, "lost_success", null], [[99, 100], "collision", [23.43, 47.74]], [101, "success", null], [[101, 102, 103, 104, 105], "collision", [42.45, 77.04, 96.82, 86.07, 35.14]], [106, "lost_success", null], [108, "success", null], [[109], "collision", [17.96]], [110, "lost_success", null], [[110], "collision", [46.6]], [111, "success", null], [[111, 112, 113, 114, 115, 117, 118, 119, 120, 121, 122, 123, 124], "collision", [65.76, 47.63, 62.73, 14.72, 34.95, 20.06, 21.73, 31.01, 40.73, 33.51, 59.76, 49.01, 53.34]], [125, "lost_success", null], [[125], "collision", [101.51]], [126, "success", null], [[126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155], "collision", [13.58, 80.36, 13.12, 23.89, 26.0, 37.73, 44.48, 12.28, 32.2, 33.52, 17.84, 63.01, 22.55, 37.99, 24.93, 50.58, 28.66, 65.01, 77.63, 104.28, 97.49, 120.36, 102.74, 132.16, 58.77, 107.86, 140.01, 92.0, 64.16, 41.72]], [156, "lost_success", null], [[156, 157, 159, 160], "collision", [18.76, 11.04, 2.98, 95.61]], [161, "success", null], [[161, 162, 163, 164, 165, 166], "collision", [60.99, 43.21, 61.61, 39.35, 27.0, 18.1]], [168, "lost_success", null], [[170], "collision", [37.33]], [179, "success", null], [188, "lost_success", null], [189, "success", null], [191, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 157, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 18, + "init_config_idx": 37, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [92.61]], [19, "contact", null], [[19], "collision", [3.18]], [20, "grasped", null], [[26], "collision", [658.74]], [37, "success", null], [40, "lost_success", null], [44, "success", null], [48, "lost_success", null], [52, "success", null], [58, "lost_success", null], [65, "success", null], [81, "lost_success", null], [83, "success", null], [119, "lost_success", null], [136, "success", null], [147, "lost_success", null], [150, "success", null], [170, "lost_success", null], [173, "success", null], [174, "lost_success", null], [177, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 158, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 48, + "init_config_idx": 15, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13], "collision", [1.12, 3975.19, 68.48]], [16, "contact", null], [16, "grasped", null], [[21], "collision", [260.02]], [38, "success", null], [40, "lost_success", null], [42, "success", null], [43, "lost_success", null], [48, "success", null], [62, "lost_success", null], [70, "success", null], [94, "lost_success", null], [95, "success", null], [97, "lost_success", null], [101, "success", null], [105, "lost_success", null], [112, "success", null], [116, "lost_success", null], [117, "success", null], [124, "lost_success", null], [129, "success", null], [142, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 159, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 15, + "init_config_idx": 25, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [41, "success", null], [[47], "collision", [0.17]], [48, "lost_success", null], [[48, 49], "collision", [0.4, 0.27]], [50, "success", null], [[50, 51, 52, 53], "collision", [0.26, 111.63, 4.71, 24.35]], [54, "lost_success", null], [[54, 55, 56], "collision", [5.86, 8.53, 17.41]], [57, "success", null], [[57, 59], "collision", [6.24, 12.33]], [61, "lost_success", null], [[61, 62, 63, 64, 65, 66, 67, 68, 69, 70], "collision", [5.26, 16.55, 15.76, 79.39, 58.53, 16.67, 109.33, 18.1, 26.87, 32.7]], [71, "success", null], [[71, 72, 73, 74, 75, 76, 77, 78], "collision", [30.66, 25.0, 29.3, 33.38, 35.4, 50.56, 54.8, 46.43]], [79, "lost_success", null], [[79], "collision", [15.1]], [80, "success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "collision", [47.35, 47.2, 43.16, 6.42, 29.31, 40.99, 47.32, 51.63, 56.7, 70.82, 87.72, 73.77, 73.02, 78.93, 74.07, 67.42, 61.66, 66.26, 53.84]], [102, "lost_success", null], [[102], "collision", [55.3]], [103, "success", null], [[103, 104, 105, 106], "collision", [64.56, 60.16, 55.85, 60.18]], [107, "lost_success", null], [[107, 108, 110, 111, 112], "collision", [57.89, 58.39, 61.38, 8.29, 69.83]], [113, "success", null], [[113, 114], "collision", [70.54, 72.16]], [115, "lost_success", null], [[115, 116, 117, 118, 119, 120], "collision", [74.4, 66.79, 63.74, 90.09, 39.55, 13.27]], [121, "success", null], [[121, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [68.44, 34.58, 49.84, 45.79, 55.08, 53.47, 51.41, 52.76, 51.96, 48.81, 54.63, 58.77, 59.74, 61.13, 60.09, 84.58, 100.71, 62.1, 72.89, 91.29, 80.29, 76.72, 72.11, 61.1]], [151, "lost_success", null], [[151], "collision", [68.27]], [152, "success", null], [[152, 155], "collision", [69.11, 23.84]], [161, "lost_success", null], [171, "success", null], [179, "lost_success", null], [182, "success", null], [185, "lost_success", null], [186, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 160, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 53, + "init_config_idx": 7, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [44, "success", null], [49, "lost_success", null], [50, "success", null], [52, "lost_success", null], [[79], "collision", [25.48]], [93, "success", null], [94, "lost_success", null], [97, "success", null], [122, "lost_success", null], [[122, 123], "collision", [54.73, 68.22]], [124, "success", null], [[124], "collision", [61.12]], [125, "lost_success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [64.54, 64.28, 65.87, 66.41, 64.05, 65.07, 65.63, 67.94, 62.85, 62.29, 50.11, 48.51, 44.48, 40.28, 35.81, 42.65, 42.5, 39.42, 40.57, 38.04]], [148, "success", null], [153, "lost_success", null], [154, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [162, "lost_success", null], [163, "success", null], [171, "lost_success", null], [[171], "collision", [38.72]], [172, "success", null], [[172, 173], "collision", [58.45, 13.19]], [181, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 161, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 49, + "init_config_idx": 36, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [[30], "collision", [26.55]], [31, "success", null], [[32], "collision", [67.58]], [34, "lost_success", null], [[34], "collision", [69.19]], [36, "success", null], [37, "lost_success", null], [41, "success", null], [52, "lost_success", null], [[52], "collision", [15.93]], [53, "success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [91.5, 76.7, 90.14, 76.89, 61.57, 80.87, 77.76, 73.94, 68.25, 113.95, 87.58, 127.29, 114.23, 93.25, 148.7, 121.75, 111.85, 132.06, 124.46, 109.85, 82.64, 81.9, 68.45, 90.55, 78.72, 91.84, 96.65, 97.0, 111.12, 83.58, 70.88, 77.6, 94.9, 104.87, 93.16, 70.93, 83.06, 75.3, 81.78, 116.08, 81.75, 23.62]], [108, "lost_success", null], [109, "success", null], [[110, 111, 112, 113, 114, 115, 117], "collision", [212.85, 64.86, 35.47, 21.63, 45.63, 41.57, 8.54]], [156, "lost_success", null], [159, "success", null], [165, "lost_success", null], [[175, 176, 177, 180, 181, 182, 183, 184, 185, 186, 187, 188], "collision", [45.17, 40.95, 27.18, 43.66, 62.53, 39.99, 41.5, 35.58, 39.87, 27.44, 25.95, 29.02]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 162, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 39, + "init_config_idx": 2, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [34, "success", null], [42, "lost_success", null], [44, "success", null], [80, "lost_success", null], [91, "success", null], [100, "lost_success", null], [194, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 163, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 36, + "init_config_idx": 6, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [18, "grasped", null], [33, "success", null], [34, "lost_success", null], [35, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [48, "success", null], [[58], "collision", [89.5]], [61, "lost_success", null], [[61], "collision", [345.9]], [62, "success", null], [[62, 63, 64, 66, 67, 68, 69, 70, 71, 72, 75], "collision", [97.14, 19.05, 47.83, 81.06, 41.07, 118.58, 59.28, 70.06, 48.47, 80.96, 22.05]], [103, "lost_success", null], [117, "success", null], [127, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 164, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 36, + "init_config_idx": 6, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [38, "success", null], [43, "lost_success", null], [44, "success", null], [109, "lost_success", null], [110, "success", null], [112, "lost_success", null], [120, "success", null], [134, "lost_success", null], [149, "success", null], [155, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 165, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 39, + "init_config_idx": 45, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [[31], "collision", [2820.53]], [105, "success", null], [114, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 166, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 0, + "init_config_idx": 31, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12], "collision", [278.15, 278.84, 126.98]], [15, "contact", null], [16, "grasped", null], [[21], "collision", [177.68]], [34, "success", null], [47, "lost_success", null], [48, "success", null], [54, "lost_success", null], [60, "success", null], [66, "lost_success", null], [67, "success", null], [73, "lost_success", null], [81, "success", null], [101, "lost_success", null], [113, "success", null], [118, "lost_success", null], [[132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152], "collision", [0.03, 0.04, 0.04, 0.04, 0.03, 0.04, 0.04, 0.04, 0.03, 0.04, 0.03, 0.03, 0.03, 0.08, 0.07, 0.05, 0.06, 0.06, 0.05, 0.06, 0.06]], [153, "success", null], [[153], "collision", [0.07]], [154, "lost_success", null], [[154, 155, 156, 157, 158, 159, 160, 162, 163, 168, 169, 170, 171, 172, 173, 174, 175], "collision", [0.09, 0.04, 0.1, 0.07, 0.14, 0.16, 0.21, 0.21, 0.0, 0.13, 0.04, 0.04, 0.07, 0.03, 0.02, 0.02, 0.02]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 167, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 42, + "init_config_idx": 14, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [316.25, 129.35]], [15, "contact", null], [17, "grasped", null], [[23, 24], "collision", [284.67, 249.09]], [32, "success", null], [69, "lost_success", null], [74, "success", null], [80, "lost_success", null], [83, "success", null], [107, "lost_success", null], [139, "success", null], [161, "lost_success", null], [162, "success", null], [165, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 168, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 44, + "init_config_idx": 20, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6, 9], "collision", [965.78, 385.21, 204.42, 34.31, 266.45]], [10, "contact", null], [11, "lost_contact", null], [12, "contact", null], [12, "grasped", null], [[13, 14, 15], "collision", [1619.54, 579.36, 494.34]], [29, "success", null], [30, "lost_success", null], [41, "success", null], [48, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [59, "success", null], [109, "lost_success", null], [151, "success", null], [154, "lost_success", null], [157, "success", null], [166, "lost_success", null], [167, "success", null], [169, "lost_success", null], [170, "success", null], [192, "lost_success", null], [193, "success", null], [196, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 169, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 38, + "init_config_idx": 15, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7], "collision", [241.61, 277.69, 219.01]], [11, "contact", null], [15, "grasped", null], [27, "success", null], [35, "lost_success", null], [36, "success", null], [[41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 52, 53], "collision", [43.04, 47.87, 38.64, 38.98, 39.59, 25.45, 33.2, 49.77, 52.55, 44.56, 34.19, 19.66]], [54, "lost_success", null], [[54, 55, 56], "collision", [9.67, 19.62, 34.0]], [57, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [37.99, 58.95, 59.29, 57.77, 65.29, 81.13, 170.52, 90.88, 46.58, 40.6, 24.39, 40.89, 32.75]], [70, "lost_success", null], [[70], "collision", [33.28]], [71, "success", null], [[71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [52.21, 48.06, 86.74, 53.99, 48.82, 33.63, 96.01, 72.38, 82.92, 35.29, 49.81, 41.34, 48.1, 36.74, 29.77, 31.69, 24.74]], [89, "lost_success", null], [90, "success", null], [117, "lost_success", null], [118, "success", null], [126, "lost_success", null], [127, "success", null], [128, "lost_success", null], [129, "success", null], [133, "lost_success", null], [139, "success", null], [164, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 170, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 56, + "init_config_idx": 11, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "grasped", null], [27, "success", null], [38, "lost_success", null], [42, "success", null], [43, "lost_success", null], [[43, 44, 45, 46], "collision", [880.67, 149.95, 120.98, 207.48]], [47, "success", null], [[47, 48], "collision", [190.1, 192.13]], [49, "lost_success", null], [[49, 50, 51, 52, 53, 54], "collision", [221.73, 230.19, 176.49, 147.25, 155.59, 142.92]], [55, "success", null], [[55], "collision", [100.14]], [56, "lost_success", null], [[56], "collision", [140.97]], [57, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 133, 135, 136, 138, 140, 141, 144], "collision", [146.95, 154.44, 131.37, 91.39, 65.1, 39.36, 10.63, 11.2, 7.88, 121.37, 271.27, 41.1, 42.35, 183.67, 74.11, 89.88]], [152, "lost_success", null], [163, "success", null], [191, "lost_success", null], [192, "success", null], [194, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 171, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 30, + "init_config_idx": 31, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 13], "collision", [215.39, 698.22, 165.43, 178.72, 388.75]], [14, "contact", null], [16, "grasped", null], [29, "success", null], [32, "lost_success", null], [44, "success", null], [46, "lost_success", null], [55, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 172, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 25, + "init_config_idx": 34, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 8, 13], "collision", [130.98, 559.79, 19.29, 411.99]], [19, "contact", null], [20, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [64, "success", null], [66, "lost_success", null], [69, "success", null], [72, "lost_success", null], [95, "success", null], [97, "lost_success", null], [100, "success", null], [107, "lost_success", null], [108, "success", null], [110, "lost_success", null], [111, "success", null], [114, "lost_success", null], [119, "success", null], [120, "lost_success", null], [122, "success", null], [126, "lost_success", null], [127, "success", null], [129, "lost_success", null], [132, "success", null], [133, "lost_success", null], [149, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 173, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 36, + "init_config_idx": 7, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [0.31]], [14, "contact", null], [14, "grasped", null], [27, "success", null], [28, "lost_success", null], [29, "success", null], [31, "lost_success", null], [[31, 32, 33, 34, 35, 36], "collision", [0.07, 0.04, 0.07, 0.1, 0.09, 0.09]], [37, "success", null], [[37], "collision", [0.09]], [38, "lost_success", null], [[38, 39], "collision", [0.09, 0.09]], [40, "success", null], [[40, 41, 42, 43, 44, 45, 46], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [47, "lost_success", null], [[47, 48], "collision", [0.09, 0.09]], [49, "success", null], [[49, 50, 51, 52], "collision", [0.09, 0.09, 0.09, 0.09]], [53, "lost_success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [62, "success", null], [[62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [98, "lost_success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.1, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [138, "success", null], [[138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [160, "lost_success", null], [[160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [186, "success", null], [[186, 187, 188, 189], "collision", [0.09, 0.09, 0.09, 0.09]], [190, "lost_success", null], [[190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 174, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 27, + "init_config_idx": 10, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "lost_contact", null], [25, "contact", null], [26, "grasped", null], [[36], "collision", [106.04]], [50, "success", null], [54, "lost_success", null], [56, "success", null], [57, "lost_success", null], [59, "success", null], [77, "lost_success", null], [80, "success", null], [82, "lost_success", null], [[83, 84, 85, 86], "collision", [64.27, 30.23, 38.71, 32.33]], [87, "success", null], [[87, 88, 89], "collision", [34.93, 42.91, 44.2]], [90, "lost_success", null], [[90, 91, 92, 93, 94], "collision", [56.83, 59.89, 71.92, 69.15, 48.72]], [95, "success", null], [[95, 96, 97, 98, 99, 101, 102, 103, 104, 108, 109, 110, 111, 115], "collision", [36.18, 31.61, 34.53, 27.08, 22.48, 25.17, 19.1, 33.33, 31.38, 0.33, 1.06, 14.34, 12.97, 11.3]], [117, "lost_success", null], [120, "success", null], [123, "lost_success", null], [129, "success", null], [160, "lost_success", null], [164, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 175, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 1, + "init_config_idx": 21, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [262.97, 226.45]], [16, "contact", null], [18, "grasped", null], [32, "success", null], [38, "lost_success", null], [39, "success", null], [42, "lost_success", null], [43, "success", null], [48, "lost_success", null], [51, "success", null], [55, "lost_success", null], [56, "success", null], [73, "lost_success", null], [75, "success", null], [92, "lost_success", null], [93, "success", null], [96, "lost_success", null], [98, "success", null], [99, "lost_success", null], [100, "success", null], [101, "lost_success", null], [108, "success", null], [109, "lost_success", null], [113, "success", null], [134, "lost_success", null], [135, "success", null], [152, "lost_success", null], [154, "success", null], [181, "lost_success", null], [187, "success", null], [190, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 176, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 19, + "init_config_idx": 3, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[23], "collision", [772.21]], [25, "contact", null], [26, "grasped", null], [48, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [61, "lost_success", null], [79, "success", null], [91, "lost_success", null], [97, "success", null], [130, "lost_success", null], [140, "success", null], [147, "lost_success", null], [161, "success", null], [168, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 177, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 20, + "init_config_idx": 30, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14, 15], "collision", [727.15, 313.22, 254.56]], [19, "contact", null], [21, "grasped", null], [102, "success", null], [105, "lost_success", null], [110, "success", null], [114, "lost_success", null], [115, "success", null], [125, "lost_success", null], [126, "success", null], [127, "lost_success", null], [128, "success", null], [130, "lost_success", null], [131, "success", null], [135, "lost_success", null], [136, "success", null], [148, "lost_success", null], [156, "success", null], [163, "lost_success", null], [177, "success", null], [194, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 178, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 18, + "init_config_idx": 8, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [34, "success", null], [41, "lost_success", null], [42, "success", null], [46, "lost_success", null], [48, "success", null], [49, "lost_success", null], [51, "success", null], [53, "lost_success", null], [62, "success", null], [90, "lost_success", null], [99, "success", null], [103, "lost_success", null], [116, "success", null], [123, "lost_success", null], [131, "success", null], [136, "lost_success", null], [137, "success", null], [144, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 179, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 27, + "init_config_idx": 5, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [25, "success", null], [29, "lost_success", null], [30, "success", null], [37, "lost_success", null], [38, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [50, "lost_success", null], [[50], "collision", [201.93]], [51, "success", null], [[51, 52, 53, 54], "collision", [74.38, 57.17, 60.66, 19.79]], [55, "lost_success", null], [[55], "collision", [72.46]], [56, "success", null], [[56], "collision", [39.99]], [57, "lost_success", null], [[57], "collision", [85.18]], [58, "success", null], [[59, 60, 61, 62, 63, 64, 66], "collision", [6.59, 30.23, 51.71, 64.62, 28.97, 34.49, 38.76]], [67, "lost_success", null], [[67], "collision", [140.58]], [68, "success", null], [[68], "collision", [62.63]], [69, "lost_success", null], [[69], "collision", [55.96]], [70, "success", null], [[72, 73, 74], "collision", [14.49, 27.28, 7.56]], [84, "lost_success", null], [85, "success", null], [88, "lost_success", null], [91, "success", null], [116, "lost_success", null], [120, "success", null], [122, "lost_success", null], [191, "success", null], [192, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 180, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 16, + "init_config_idx": 1, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [358.45, 150.0]], [13, "contact", null], [[15], "collision", [5.99]], [16, "grasped", null], [29, "success", null], [30, "lost_success", null], [[34, 36, 37, 38, 39, 40, 41, 42], "collision", [27.28, 38.12, 12.13, 19.91, 30.91, 36.18, 38.22, 35.25]], [50, "success", null], [55, "lost_success", null], [56, "success", null], [113, "lost_success", null], [114, "success", null], [124, "lost_success", null], [125, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 181, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 22, + "init_config_idx": 14, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [21, "lost_contact", null], [25, "contact", null], [26, "lost_contact", null], [27, "contact", null], [28, "lost_contact", null], [31, "contact", null], [31, "grasped", null], [50, "success", null], [52, "lost_success", null], [80, "success", null], [96, "lost_success", null], [109, "success", null], [116, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 182, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 33, + "init_config_idx": 19, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 11], "collision", [564.59, 379.34, 220.66, 197.95, 121.6]], [15, "contact", null], [[15], "collision", [48.0]], [16, "grasped", null], [34, "success", null], [49, "lost_success", null], [51, "success", null], [60, "lost_success", null], [61, "success", null], [81, "lost_success", null], [86, "success", null], [95, "lost_success", null], [98, "success", null], [118, "lost_success", null], [126, "success", null], [135, "lost_success", null], [185, "success", null], [189, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 183, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 47, + "init_config_idx": 31, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 11, 12], "collision", [463.05, 118.98, 171.21, 96.01]], [21, "contact", null], [21, "grasped", null], [[24, 25], "collision", [1011.04, 170.73]], [41, "success", null], [44, "lost_success", null], [53, "success", null], [54, "lost_success", null], [55, "success", null], [61, "lost_success", null], [62, "success", null], [72, "lost_success", null], [80, "success", null], [83, "lost_success", null], [85, "success", null], [135, "lost_success", null], [137, "success", null], [140, "lost_success", null], [141, "success", null], [147, "lost_success", null], [[147, 148, 149, 150], "collision", [29.78, 81.59, 49.79, 67.48]], [151, "success", null], [[151, 152], "collision", [60.08, 88.09]], [153, "lost_success", null], [[153, 154, 155, 156, 157, 158, 159], "collision", [37.0, 38.62, 29.5, 32.62, 75.1, 50.01, 38.34]], [160, "success", null], [[160, 161, 162, 163, 164, 165], "collision", [38.68, 57.24, 65.72, 63.64, 60.51, 60.46]], [166, "lost_success", null], [[166], "collision", [54.81]], [167, "success", null], [[167], "collision", [29.4]], [168, "lost_success", null], [172, "success", null], [[173, 174, 175, 176], "collision", [45.41, 77.14, 66.64, 72.2]], [177, "lost_success", null], [[177, 178], "collision", [52.87, 86.57]], [179, "success", null], [[179, 180], "collision", [70.98, 54.33]], [181, "lost_success", null], [[181], "collision", [24.02]], [186, "success", null], [187, "lost_success", null], [[187], "collision", [247.88]], [188, "success", null], [[188, 189], "collision", [61.19, 77.25]], [190, "lost_success", null], [[190], "collision", [77.27]], [191, "success", null], [[191], "collision", [87.64]], [192, "lost_success", null], [[192], "collision", [35.89]], [193, "success", null], [[193], "collision", [15.0]], [194, "lost_success", null], [196, "success", null], [[196, 197, 198, 199], "collision", [12.02, 42.4, 48.25, 46.22]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 184, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 12, + "init_config_idx": 45, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [[25, 26], "collision", [1.09, 10.07]], [27, "grasped", null], [[27, 28, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42], "collision", [0.01, 0.61, 2.61, 225.12, 1.8, 34.38, 227.84, 125.7, 149.45, 346.35, 468.31, 270.02, 265.2, 13.36]], [53, "success", null], [56, "lost_success", null], [57, "success", null], [59, "lost_success", null], [[59], "collision", [0.62]], [60, "success", null], [[60, 61, 62], "collision", [0.42, 1.16, 1.12]], [63, "lost_success", null], [[63, 64, 65], "collision", [1.18, 1.17, 1.17]], [66, "success", null], [[66], "collision", [1.17]], [67, "lost_success", null], [[67], "collision", [1.17]], [68, "success", null], [[68], "collision", [1.15]], [69, "lost_success", null], [[69], "collision", [1.14]], [70, "success", null], [[70, 71, 72, 73], "collision", [1.1, 1.02, 0.84, 0.22]], [74, "lost_success", null], [75, "success", null], [78, "lost_success", null], [79, "success", null], [[80, 83], "collision", [0.19, 0.26]], [91, "lost_success", null], [94, "success", null], [96, "lost_success", null], [98, "success", null], [109, "lost_success", null], [113, "success", null], [132, "lost_success", null], [135, "success", null], [147, "lost_success", null], [153, "success", null], [166, "lost_success", null], [171, "success", null], [185, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 185, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 18, + "init_config_idx": 7, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [496.47]], [19, "contact", null], [[19], "collision", [387.46]], [20, "grasped", null], [[20, 25], "collision", [46.18, 66.88]], [39, "success", null], [43, "lost_success", null], [59, "success", null], [71, "lost_success", null], [82, "success", null], [128, "lost_success", null], [136, "success", null], [144, "lost_success", null], [154, "success", null], [173, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 186, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 49, + "init_config_idx": 22, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12], "collision", [1509.43, 197.14, 109.94]], [15, "contact", null], [17, "grasped", null], [31, "success", null], [38, "lost_success", null], [40, "success", null], [46, "lost_success", null], [47, "success", null], [54, "lost_success", null], [60, "success", null], [68, "lost_success", null], [69, "success", null], [83, "lost_success", null], [86, "success", null], [100, "lost_success", null], [104, "success", null], [121, "lost_success", null], [122, "success", null], [123, "lost_success", null], [126, "success", null], [128, "lost_success", null], [130, "success", null], [149, "lost_success", null], [158, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 187, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 24, + "init_config_idx": 14, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [24, "grasped", null], [[34], "collision", [117.18]], [46, "success", null], [52, "lost_success", null], [54, "success", null], [66, "lost_success", null], [72, "success", null], [87, "lost_success", null], [89, "success", null], [101, "lost_success", null], [102, "success", null], [120, "lost_success", null], [137, "success", null], [138, "lost_success", null], [139, "success", null], [193, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 188, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 4, + "init_config_idx": 23, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "lost_contact", null], [22, "contact", null], [23, "grasped", null], [[24], "collision", [68.16]], [44, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75], "collision", [1.07, 0.97, 0.88, 0.85, 6.09, 2.57, 2.54, 2.24, 2.28, 2.19, 1.39, 2.22, 2.74, 1.69, 2.03, 2.4, 0.76, 1.48, 1.72]], [76, "lost_success", null], [[76, 79, 80], "collision", [21.28, 17.6, 25.26]], [94, "success", null], [116, "lost_success", null], [117, "success", null], [163, "lost_success", null], [164, "success", null], [170, "lost_success", null], [171, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 189, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 8, + "init_config_idx": 1, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [16, "lost_contact", null], [17, "contact", null], [17, "grasped", null], [28, "success", null], [34, "lost_success", null], [37, "success", null], [38, "lost_success", null], [39, "success", null], [64, "lost_success", null], [79, "success", null], [94, "lost_success", null], [97, "success", null], [100, "lost_success", null], [106, "success", null], [120, "lost_success", null], [125, "success", null], [140, "lost_success", null], [141, "success", null], [175, "lost_success", null], [177, "success", null], [187, "lost_success", null], [190, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 190, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 3, + "init_config_idx": 15, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [26, "grasped", null], [[42, 43, 44, 45, 46, 50, 51, 53], "collision", [76.95, 85.62, 86.48, 80.75, 157.71, 35.23, 72.65, 52.25]], [56, "success", null], [57, "lost_success", null], [59, "success", null], [69, "lost_success", null], [70, "success", null], [72, "lost_success", null], [[72, 73], "collision", [96.58, 214.48]], [74, "success", null], [[74, 75, 76, 77, 87, 88, 89, 91, 95, 97, 98, 104, 105, 106, 107], "collision", [126.29, 85.81, 115.02, 74.43, 58.93, 15.28, 1.14, 87.48, 32.85, 295.34, 100.01, 56.19, 136.06, 90.57, 116.9]], [113, "lost_success", null], [128, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [136, "success", null], [143, "lost_success", null], [181, "success", null], [183, "lost_success", null], [196, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 191, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 16, + "init_config_idx": 28, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 21, 22, 23, 24, 25, 26], "collision", [23.68, 37.57, 66.35, 103.78, 106.86, 135.49, 41.45]], [27, "contact", null], [27, "grasped", null], [[28, 29], "collision", [3.91, 3.92]], [47, "success", null], [56, "lost_success", null], [57, "success", null], [58, "lost_success", null], [63, "success", null], [65, "lost_success", null], [66, "success", null], [68, "lost_success", null], [69, "success", null], [72, "lost_success", null], [116, "success", null], [118, "lost_success", null], [122, "success", null], [130, "lost_success", null], [160, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 192, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 17, + "init_config_idx": 6, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [41, "success", null], [51, "lost_success", null], [52, "success", null], [55, "lost_success", null], [56, "success", null], [67, "lost_success", null], [96, "success", null], [97, "lost_success", null], [98, "success", null], [101, "lost_success", null], [102, "success", null], [108, "lost_success", null], [113, "success", null], [142, "lost_success", null], [146, "success", null], [[170, 171, 172, 173, 174, 175, 176, 177], "collision", [38.64, 20.32, 8.48, 13.92, 34.77, 28.04, 17.54, 16.09]], [178, "lost_success", null], [179, "success", null], [[189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [16.65, 27.75, 39.17, 41.63, 53.43, 58.07, 66.62, 58.25, 85.74, 111.17, 91.81]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 193, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 28, + "init_config_idx": 39, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [23, "grasped", null], [39, "success", null], [[39], "collision", [11.76]], [51, "lost_success", null], [52, "success", null], [87, "lost_success", null], [89, "success", null], [[95, 96, 97, 98, 99, 100, 101, 102, 103], "collision", [47.02, 245.09, 128.74, 162.57, 259.64, 302.51, 43.49, 58.93, 32.86]], [112, "lost_success", null], [116, "success", null], [[135, 136, 137, 138], "collision", [61.24, 58.39, 37.23, 12.15]], [139, "lost_success", null], [[139], "collision", [22.14]], [140, "success", null], [143, "lost_success", null], [148, "success", null], [166, "lost_success", null], [167, "success", null], [177, "lost_success", null], [178, "success", null], [186, "lost_success", null], [187, "success", null], [188, "lost_success", null], [189, "success", null], [192, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 194, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 8, + "init_config_idx": 30, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[23, 24, 28, 29], "collision", [598.7, 37.15, 466.63, 1694.31]], [34, "contact", null], [35, "grasped", null], [[41], "collision", [225.82]], [66, "success", null], [67, "lost_success", null], [68, "success", null], [73, "lost_success", null], [80, "success", null], [85, "lost_success", null], [88, "success", null], [96, "lost_success", null], [97, "success", null], [98, "lost_success", null], [99, "success", null], [100, "lost_success", null], [101, "success", null], [[116], "collision", [101.71]], [119, "lost_success", null], [[119, 120, 122], "collision", [457.66, 29.07, 111.89]], [123, "success", null], [[124, 125, 127, 129, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 145], "collision", [24.86, 1.07, 40.8, 34.81, 37.36, 84.65, 71.01, 76.58, 34.81, 82.03, 115.61, 109.57, 50.72, 87.62, 100.24, 46.8]], [169, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 195, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 39, + "init_config_idx": 12, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [[29, 30, 31, 32, 33, 34, 35, 36, 37], "collision", [87.98, 84.42, 92.54, 94.02, 106.33, 124.77, 121.44, 104.96, 93.47]], [43, "success", null], [[59, 60], "collision", [154.46, 74.41]], [130, "lost_success", null], [135, "success", null], [[135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146], "collision", [67.53, 32.34, 36.83, 39.23, 40.95, 45.46, 43.11, 41.27, 49.35, 45.96, 43.62, 45.6]], [147, "lost_success", null], [[147], "collision", [37.15]], [148, "success", null], [[148, 149, 150], "collision", [39.39, 40.97, 16.46]], [151, "lost_success", null], [[151], "collision", [42.06]], [152, "success", null], [[152], "collision", [44.25]], [153, "lost_success", null], [[153], "collision", [18.16]], [154, "success", null], [[154], "collision", [20.86]], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [[161], "collision", [45.08]], [162, "lost_success", null], [188, "success", null], [193, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 196, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 40, + "init_config_idx": 8, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19], "collision", [312.29, 159.65]], [20, "contact", null], [20, "grasped", null], [[27, 28, 31, 32, 33, 34, 35, 36], "collision", [217.76, 111.48, 49.94, 84.41, 76.61, 73.69, 79.03, 16.27]], [57, "success", null], [60, "lost_success", null], [61, "success", null], [68, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [[86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [174.98, 154.78, 138.64, 88.02, 69.13, 79.89, 120.88, 92.57, 136.51]], [95, "lost_success", null], [[95], "collision", [173.37]], [96, "success", null], [[96, 97, 98, 99, 100, 101, 115, 116, 117, 118, 120, 121, 122, 123, 125, 126], "collision", [173.58, 138.52, 97.89, 32.61, 38.92, 3.58, 66.06, 60.3, 41.44, 25.79, 51.89, 15.96, 61.52, 0.74, 40.76, 3.87]], [145, "lost_success", null], [156, "success", null], [165, "lost_success", null], [166, "success", null], [167, "lost_success", null], [170, "success", null], [175, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 197, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 41, + "init_config_idx": 37, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [25, "grasped", null], [47, "success", null], [52, "lost_success", null], [60, "success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 182, 183], "collision", [21.64, 35.17, 24.35, 21.54, 19.74, 18.52, 18.69, 25.81, 24.48, 21.75, 21.76, 27.37, 22.83, 18.96, 18.63, 18.51, 27.31, 22.97, 25.95, 20.6, 23.19, 20.9, 9.08, 8.05, 23.83, 12.23, 19.12, 20.52, 26.0, 16.77, 20.45, 25.03, 21.54, 14.6, 19.2, 11.7, 13.39, 15.59, 16.52, 14.83, 19.32, 22.23, 25.93, 16.58, 25.52, 18.6, 12.98, 24.51, 13.22, 8.72, 16.71, 12.62, 24.23, 23.59, 16.29, 19.17, 11.3, 9.75, 10.76, 7.4, 9.14, 17.84, 17.73, 10.27, 8.54, 6.59, 19.21, 16.27, 25.28, 5.43, 18.42, 16.79, 10.14, 16.5, 31.42, 22.48, 12.98, 8.85, 20.44, 10.97, 18.38, 15.88, 24.17, 19.43, 24.83, 14.52, 14.07, 24.24, 17.9, 24.02, 12.24, 2.81]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 198, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 35, + "init_config_idx": 5, + "spawn_selection_idx": 34, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 11, 13, 15, 16, 17, 18, 19, 20, 21, 22], "collision", [347.0, 264.79, 79.91, 86.97, 701.42, 220.87, 193.17, 170.47, 512.96, 230.91, 220.5, 290.3]], [24, "contact", null], [24, "grasped", null], [[37, 39, 40, 41], "collision", [57.84, 64.24, 63.88, 41.36]], [47, "success", null], [49, "lost_success", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [56, "lost_success", null], [58, "success", null], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [63, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [73, "success", null], [101, "lost_success", null], [113, "success", null], [130, "lost_success", null], [139, "success", null], [151, "lost_success", null], [153, "success", null], [173, "lost_success", null], [179, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 199, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 35, + "init_config_idx": 10, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 10], "collision", [431.82, 314.91, 252.13, 216.97, 74.49, 3.75]], [11, "contact", null], [12, "grasped", null], [25, "success", null], [27, "lost_success", null], [38, "success", null], [41, "lost_success", null], [44, "success", null], [45, "lost_success", null], [66, "success", null], [71, "lost_success", null], [76, "success", null], [105, "lost_success", null], [106, "success", null], [135, "lost_success", null], [136, "success", null], [143, "lost_success", null], [156, "success", null], [176, "lost_success", null], [177, "success", null], [178, "lost_success", null], [179, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 200, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 14, + "init_config_idx": 20, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 10], "collision", [868.34, 111.42]], [11, "contact", null], [11, "grasped", null], [48, "success", null], [57, "lost_success", null], [63, "success", null], [64, "lost_success", null], [[64], "collision", [829.75]], [65, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [99.58, 114.68, 124.79, 122.4, 114.75, 159.81, 99.8, 131.15, 111.36, 119.62, 139.65, 85.16, 113.82, 84.62, 62.28, 61.33, 138.89, 84.49, 90.1, 93.82, 2.62, 79.38, 44.08, 5.91]], [125, "lost_success", null], [136, "success", null], [140, "lost_success", null], [144, "success", null], [164, "lost_success", null], [193, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 201, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 36, + "init_config_idx": 6, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16], "collision", [694.13, 269.57]], [21, "contact", null], [[21], "collision", [11.96]], [23, "lost_contact", null], [24, "contact", null], [24, "grasped", null], [43, "success", null], [50, "lost_success", null], [51, "success", null], [68, "lost_success", null], [69, "success", null], [[69], "collision", [3.87]], [70, "lost_success", null], [[70], "collision", [0.71]], [71, "success", null], [[71], "collision", [3.14]], [72, "lost_success", null], [[72, 73, 74], "collision", [3.55, 0.65, 0.56]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [0.66, 0.64, 0.66, 0.58, 0.67, 4.28, 11.23, 5.15, 1.36, 0.94, 2.52, 6.72, 5.86, 2.71, 0.07]], [107, "lost_success", null], [[109, 110, 111, 112, 113], "collision", [0.44, 4.52, 7.86, 0.11, 0.05]], [121, "success", null], [124, "lost_success", null], [125, "success", null], [157, "lost_success", null], [158, "success", null], [180, "lost_success", null], [181, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 202, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 7, + "init_config_idx": 27, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 21, 22, 31], "collision", [143.91, 615.48, 236.71, 715.13, 182.01, 22.52]], [32, "contact", null], [32, "grasped", null], [[32, 33, 34, 35, 39, 40], "collision", [13.37, 96.48, 142.82, 40.65, 145.07, 156.04]], [53, "success", null], [83, "lost_success", null], [85, "success", null], [91, "lost_success", null], [92, "success", null], [[108], "collision", [55.21]], [109, "lost_success", null], [[109, 110, 111, 112, 113, 114, 115, 117], "collision", [77.52, 123.17, 67.69, 53.01, 70.51, 67.36, 13.31, 16.34]], [128, "success", null], [140, "lost_success", null], [143, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 203, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 19, + "init_config_idx": 8, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[29, 30, 31, 32, 33], "collision", [260.91, 99.02, 99.91, 95.8, 79.91]], [42, "success", null], [[64, 66, 67, 68, 70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [35.88, 77.6, 37.22, 208.3, 77.17, 60.77, 31.44, 65.58, 66.7, 49.66, 53.04, 21.07, 18.72]], [102, "lost_success", null], [113, "success", null], [128, "lost_success", null], [141, "success", null], [143, "lost_success", null], [156, "success", null], [173, "lost_success", null], [178, "success", null], [180, "lost_success", null], [182, "success", null], [185, "lost_success", null], [191, "success", null], [192, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 204, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 0, + "init_config_idx": 12, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8], "collision", [191.54, 170.51, 158.33]], [10, "contact", null], [11, "lost_contact", null], [14, "contact", null], [15, "grasped", null], [29, "success", null], [40, "lost_success", null], [42, "success", null], [[51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "collision", [51.51, 51.88, 27.74, 37.55, 39.29, 24.55, 23.86, 24.33, 29.58, 40.63, 54.58, 39.91]], [63, "lost_success", null], [[63], "collision", [61.6]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [66.67, 59.57, 89.17, 78.01, 78.43, 64.47, 64.03, 62.76, 53.76, 60.39, 55.53, 53.97, 44.31]], [77, "lost_success", null], [[77, 78], "collision", [36.82, 39.86]], [79, "success", null], [[79, 80, 81, 82, 83, 84, 85], "collision", [44.1, 45.05, 75.2, 87.38, 61.39, 55.68, 53.89]], [86, "lost_success", null], [[86, 87, 88], "collision", [53.09, 54.29, 53.98]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 122], "collision", [61.88, 64.18, 62.09, 72.12, 87.66, 125.83, 116.52, 90.48, 87.03, 88.06, 78.87, 75.07, 73.97, 75.86, 64.23, 70.92, 36.19, 85.68, 84.82, 67.48, 83.09, 100.64, 79.91, 65.8, 57.24, 59.19, 49.67, 50.44, 40.9, 54.91, 59.68, 63.6, 77.08]], [131, "lost_success", null], [[132, 133], "collision", [28.11, 5.48]], [134, "success", null], [139, "lost_success", null], [140, "success", null], [141, "lost_success", null], [143, "success", null], [158, "lost_success", null], [161, "success", null], [174, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 205, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 24, + "init_config_idx": 2, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "grasped", null], [25, "success", null], [38, "lost_success", null], [49, "success", null], [59, "lost_success", null], [63, "success", null], [69, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 206, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 40, + "init_config_idx": 24, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [23, "lost_contact", null], [30, "contact", null], [30, "grasped", null], [[41, 42], "collision", [54.88, 52.02]], [55, "success", null], [57, "lost_success", null], [58, "success", null], [95, "lost_success", null], [96, "success", null], [109, "lost_success", null], [113, "success", null], [115, "lost_success", null], [116, "success", null], [119, "lost_success", null], [[129, 130], "collision", [69.48, 31.09]], [131, "success", null], [[131, 132, 133], "collision", [34.4, 40.98, 38.66]], [134, "lost_success", null], [[134], "collision", [23.33]], [135, "success", null], [[135, 136, 137, 138], "collision", [36.32, 39.89, 35.78, 29.98]], [139, "lost_success", null], [[139, 140, 141, 142], "collision", [35.41, 29.02, 31.54, 28.69]], [145, "success", null], [146, "lost_success", null], [148, "success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160], "collision", [4.75, 25.3, 32.53, 26.59, 27.73, 31.32, 29.0, 22.05, 7.94]], [164, "lost_success", null], [165, "success", null], [168, "lost_success", null], [169, "success", null], [176, "lost_success", null], [179, "success", null], [180, "lost_success", null], [187, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 207, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 3, + "init_config_idx": 27, + "spawn_selection_idx": 34, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [[16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "collision", [1.1, 1.75, 1.75, 1.64, 1.52, 1.43, 0.64, 0.68, 0.66, 48.03, 92.38, 108.56, 116.64, 79.07, 0.61, 0.75, 0.66]], [33, "success", null], [[33], "collision", [0.72]], [34, "lost_success", null], [[34], "collision", [0.7]], [35, "success", null], [[35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [0.68, 0.68, 0.63, 0.66, 0.68, 0.64, 0.66, 0.58, 0.62, 0.61, 0.64]], [46, "lost_success", null], [[46, 47, 48, 49, 50, 51, 52, 53], "collision", [0.62, 0.65, 0.65, 0.65, 0.65, 0.65, 0.67, 0.68]], [54, "success", null], [[54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65], "collision", [0.67, 0.69, 0.62, 0.62, 0.72, 0.65, 0.68, 0.61, 0.62, 0.62, 0.72, 0.64]], [66, "lost_success", null], [[66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79], "collision", [0.61, 0.61, 0.67, 0.61, 0.75, 0.69, 0.61, 0.69, 0.66, 0.61, 0.69, 0.58, 0.58, 0.61]], [80, "success", null], [[80, 81, 82, 83, 84], "collision", [0.62, 0.62, 0.59, 0.59, 0.61]], [85, "lost_success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109], "collision", [0.62, 0.64, 0.64, 0.63, 0.62, 0.63, 0.6, 0.62, 0.69, 0.61, 0.61, 0.73, 0.65, 0.73, 0.61, 0.61, 0.6, 0.61, 0.62, 0.61, 0.71, 0.68, 0.68, 0.71, 0.69]], [110, "success", null], [[110, 111, 112], "collision", [0.71, 0.7, 0.63]], [113, "lost_success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.64, 0.68, 0.64, 0.65, 0.64, 0.77, 0.76, 0.63, 0.64, 0.64, 0.65, 0.66, 0.65, 0.78, 0.66, 0.66, 0.68, 0.63, 0.63, 0.68, 0.67, 0.79, 0.64, 0.64, 0.66, 0.67, 0.67, 0.68, 0.67, 0.68, 0.68, 0.68, 0.68, 0.67, 0.65, 0.65, 0.67, 0.63, 0.66, 0.67, 0.67, 0.66, 0.66, 0.68, 0.65, 0.67, 0.63, 0.7, 0.65, 0.61, 0.64, 0.61, 0.62, 0.63, 0.63, 0.62, 0.63, 0.64, 0.63, 0.64, 0.61, 0.61, 0.63, 0.62, 0.62, 0.63, 0.62, 0.62, 0.67, 0.63, 0.61, 0.61, 0.6, 0.63, 0.64, 0.6, 0.62, 0.63, 0.61, 0.64, 0.63, 0.63, 0.63, 0.67, 0.59, 0.61, 0.6]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 208, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 9, + "init_config_idx": 13, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "lost_contact", null], [20, "contact", null], [[20], "collision", [7.57]], [22, "grasped", null], [[34], "collision", [74.12]], [39, "success", null], [48, "lost_success", null], [52, "success", null], [60, "lost_success", null], [66, "success", null], [96, "lost_success", null], [98, "success", null], [108, "lost_success", null], [110, "success", null], [113, "lost_success", null], [114, "success", null], [134, "lost_success", null], [166, "success", null], [176, "lost_success", null], [177, "success", null], [178, "lost_success", null], [181, "success", null], [183, "lost_success", null], [184, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 209, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 13, + "init_config_idx": 5, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "lost_contact", null], [21, "contact", null], [21, "grasped", null], [42, "success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 93, 94, 102, 103, 104, 105, 107, 108], "collision", [75.62, 84.05, 106.72, 75.46, 91.48, 38.71, 6.48, 17.42, 27.24, 57.8, 49.96, 19.31, 119.17, 62.17, 301.5, 445.58, 370.17, 120.01, 38.9, 6.88]], [126, "lost_success", null], [136, "success", null], [141, "lost_success", null], [142, "success", null], [149, "lost_success", null], [164, "success", null], [169, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 210, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 51, + "init_config_idx": 10, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [706.64]], [13, "contact", null], [15, "lost_contact", null], [17, "contact", null], [20, "grasped", null], [[30], "collision", [3.4]], [31, "success", null], [61, "lost_success", null], [[61, 62], "collision", [215.83, 354.0]], [63, "success", null], [[63, 64], "collision", [264.85, 35.77]], [67, "lost_success", null], [68, "success", null], [71, "lost_success", null], [76, "success", null], [83, "lost_success", null], [84, "success", null], [85, "lost_success", null], [88, "success", null], [90, "lost_success", null], [91, "success", null], [92, "lost_success", null], [93, "success", null], [96, "lost_success", null], [97, "success", null], [104, "lost_success", null], [107, "success", null], [123, "lost_success", null], [124, "success", null], [130, "lost_success", null], [131, "success", null], [132, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 211, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 27, + "init_config_idx": 24, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 11, 12, 13, 14, 15, 16], "collision", [164.37, 111.69, 138.77, 171.33, 129.47, 716.49, 93.25, 229.31, 143.56, 0.79]], [17, "contact", null], [18, "lost_contact", null], [[19], "collision", [37.87]], [20, "contact", null], [20, "grasped", null], [[20], "collision", [81.91]], [39, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [49, "lost_success", null], [53, "success", null], [62, "lost_success", null], [63, "success", null], [70, "lost_success", null], [[70, 71], "collision", [332.41, 145.14]], [73, "success", null], [74, "lost_success", null], [75, "success", null], [76, "lost_success", null], [[77], "collision", [212.49]], [78, "success", null], [[78, 79, 80, 81, 82, 83, 84, 88], "collision", [55.75, 72.93, 23.4, 68.99, 0.35, 56.36, 53.42, 8.09]], [107, "lost_success", null], [108, "success", null], [109, "lost_success", null], [110, "success", null], [112, "lost_success", null], [[114], "collision", [42.8]], [122, "success", null], [160, "lost_success", null], [161, "success", null], [162, "lost_success", null], [163, "success", null], [170, "lost_success", null], [171, "success", null], [175, "lost_success", null], [176, "success", null], [177, "lost_success", null], [178, "success", null], [188, "lost_success", null], [193, "success", null], [197, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 212, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 29, + "init_config_idx": 24, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [236.13, 124.17]], [18, "contact", null], [[18], "collision", [0.74]], [20, "grasped", null], [[35], "collision", [7.06]], [36, "success", null], [[36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68], "collision", [1.73, 7.37, 2.77, 2.25, 1.92, 7.55, 2.06, 0.68, 1.49, 1.78, 1.54, 3.52, 7.64, 7.47, 7.58, 7.44, 7.83, 7.71, 7.87, 7.63, 7.71, 7.59, 7.51, 7.68, 7.71, 7.73, 8.02, 7.66, 7.76, 7.58, 7.96, 7.9, 7.82]], [69, "lost_success", null], [[69, 70, 71], "collision", [7.91, 7.86, 7.64]], [72, "success", null], [[72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [7.92, 7.08, 7.71, 7.62, 7.57, 7.91, 7.75, 8.09, 8.02, 7.92, 7.66, 7.58, 7.62, 7.58, 7.59, 7.61, 7.88, 7.93]], [90, "lost_success", null], [[90, 91, 92, 93, 94, 95, 96, 97], "collision", [7.59, 7.94, 7.65, 7.78, 7.73, 7.71, 7.67, 7.67]], [98, "success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125], "collision", [7.66, 7.64, 7.75, 7.79, 7.81, 7.9, 7.67, 8.0, 7.74, 7.92, 7.8, 7.74, 7.59, 7.67, 7.6, 7.65, 7.71, 7.66, 7.88, 7.71, 7.73, 8.0, 7.52, 7.76, 7.65, 7.92, 7.61, 7.6]], [126, "lost_success", null], [[126, 127], "collision", [7.62, 7.52]], [128, "success", null], [[128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "collision", [7.61, 7.65, 7.87, 8.01, 7.98, 7.27, 7.81, 7.62, 7.64, 7.65, 7.31, 7.68, 7.66, 7.67, 7.65, 7.63, 7.62, 7.8, 7.66, 7.78, 7.74, 7.66, 7.24, 7.66, 7.67, 7.62, 7.92, 7.91, 7.61, 8.04, 7.2]], [159, "lost_success", null], [[159, 160, 161, 162, 163, 164, 165, 166, 167], "collision", [7.78, 8.01, 7.62, 7.75, 7.65, 7.76, 7.63, 7.78, 7.63]], [168, "success", null], [[168], "collision", [7.62]], [169, "lost_success", null], [[169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [7.68, 7.63, 7.6, 7.75, 7.26, 7.77, 7.63, 7.56, 7.55, 7.75, 7.73, 7.25, 7.73, 7.86, 7.79, 7.89, 7.81, 7.11, 7.86, 5.1, 5.11, 5.06, 5.05, 5.1, 5.11, 5.09, 5.1, 5.11, 5.1, 5.1, 5.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 213, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 0, + "init_config_idx": 39, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [[24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [76.5, 94.73, 91.56, 101.58, 117.18, 113.5, 87.38, 140.69, 82.7, 81.39, 102.99, 66.55, 57.22]], [38, "success", null], [50, "lost_success", null], [[50, 51], "collision", [213.21, 330.55]], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 67], "collision", [241.17, 277.87, 261.22, 217.76, 239.26, 172.18, 135.02, 132.48, 96.55, 154.81, 94.61, 125.81, 93.32, 99.5, 21.05]], [88, "lost_success", null], [94, "success", null], [96, "lost_success", null], [101, "success", null], [141, "lost_success", null], [144, "success", null], [147, "lost_success", null], [[150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162], "collision", [7.1, 16.46, 18.13, 19.43, 21.66, 21.39, 17.24, 16.87, 15.25, 15.37, 11.95, 13.43, 13.46]], [163, "success", null], [[163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173], "collision", [13.33, 15.56, 14.3, 18.23, 16.31, 16.09, 15.13, 14.81, 12.67, 12.87, 13.1]], [174, "lost_success", null], [[174], "collision", [11.75]], [175, "success", null], [[175], "collision", [10.56]], [176, "lost_success", null], [[176], "collision", [12.4]], [177, "success", null], [187, "lost_success", null], [[187], "collision", [30.72]], [188, "success", null], [189, "lost_success", null], [[189, 190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [14.32, 15.17, 14.89, 15.69, 16.81, 13.74, 15.7, 13.32, 12.59, 13.78]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 214, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 21, + "init_config_idx": 27, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [994.1, 345.27, 286.8, 136.11]], [16, "contact", null], [[16], "collision", [637.99]], [17, "lost_contact", null], [18, "contact", null], [19, "grasped", null], [49, "success", null], [54, "lost_success", null], [97, "success", null], [98, "lost_success", null], [115, "success", null], [117, "lost_success", null], [132, "success", null], [134, "lost_success", null], [135, "success", null], [136, "lost_success", null], [137, "success", null], [139, "lost_success", null], [140, "success", null], [141, "lost_success", null], [148, "success", null], [149, "lost_success", null], [152, "success", null], [159, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 215, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 25, + "init_config_idx": 40, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "lost_contact", null], [13, "contact", null], [15, "grasped", null], [35, "success", null], [38, "lost_success", null], [39, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [50, "success", null], [52, "lost_success", null], [[52], "collision", [21.59]], [53, "success", null], [54, "lost_success", null], [[54], "collision", [23.98]], [55, "success", null], [[55], "collision", [33.37]], [56, "lost_success", null], [[56], "collision", [51.14]], [57, "success", null], [[57, 59, 60, 61, 62, 63, 64], "collision", [15.19, 34.75, 9.15, 10.45, 30.15, 1.06, 26.5]], [65, "lost_success", null], [66, "success", null], [77, "lost_success", null], [78, "success", null], [79, "lost_success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [27.17, 45.8, 47.27, 33.44, 37.2, 22.38, 29.61, 17.67, 17.23, 22.31]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104], "collision", [22.83, 38.79, 38.39, 37.15, 22.49, 15.86, 20.77, 17.6, 40.99, 38.95, 39.67, 24.79, 38.69, 23.08, 23.23, 2.57]], [105, "lost_success", null], [[105], "collision", [22.87]], [106, "success", null], [112, "lost_success", null], [113, "success", null], [121, "lost_success", null], [[121], "collision", [51.05]], [122, "success", null], [[122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143], "collision", [64.97, 77.54, 37.85, 46.12, 42.62, 35.2, 40.52, 41.03, 44.37, 29.12, 20.59, 25.6, 56.98, 92.72, 74.3, 66.67, 80.28, 66.98, 69.17, 50.29, 71.78, 95.02]], [144, "lost_success", null], [[144, 145, 146], "collision", [113.71, 116.54, 110.03]], [147, "success", null], [[147], "collision", [103.73]], [148, "lost_success", null], [[148], "collision", [117.96]], [149, "success", null], [[149], "collision", [102.74]], [150, "lost_success", null], [[150, 151, 152, 153, 154], "collision", [139.2, 110.63, 104.38, 107.59, 108.92]], [155, "success", null], [[155], "collision", [83.64]], [156, "lost_success", null], [[156, 157, 158], "collision", [87.74, 98.03, 108.61]], [159, "success", null], [[159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [106.17, 69.42, 79.63, 49.0, 47.34, 52.67, 52.35, 64.27, 92.58, 38.7, 33.6]], [172, "lost_success", null], [179, "success", null], [184, "lost_success", null], [187, "success", null], [189, "lost_success", null], [192, "success", null], [194, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 216, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 28, + "init_config_idx": 26, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [42, "success", null], [48, "lost_success", null], [49, "success", null], [58, "lost_success", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [64, "lost_success", null], [65, "success", null], [66, "lost_success", null], [69, "success", null], [[105], "collision", [344.84]], [110, "lost_success", null], [129, "success", null], [134, "lost_success", null], [140, "success", null], [148, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 217, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 25, + "init_config_idx": 31, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [45, "success", null], [52, "lost_success", null], [53, "success", null], [[56, 57, 58, 59], "collision", [13.19, 12.27, 12.38, 12.82]], [60, "lost_success", null], [[60, 61], "collision", [14.86, 13.75]], [62, "success", null], [[62, 63, 64], "collision", [13.81, 10.17, 12.46]], [65, "lost_success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73], "collision", [11.82, 11.72, 12.66, 12.47, 12.16, 12.83, 11.88, 11.65, 11.52]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 81, 82], "collision", [10.84, 11.19, 10.57, 12.56, 12.46, 11.25, 25.25, 9.89]], [84, "lost_success", null], [85, "success", null], [97, "lost_success", null], [104, "success", null], [106, "lost_success", null], [108, "success", null], [109, "lost_success", null], [110, "success", null], [114, "lost_success", null], [117, "success", null], [122, "lost_success", null], [158, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 218, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 12, + "init_config_idx": 2, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [4.39]], [26, "contact", null], [[26], "collision", [175.95]], [27, "grasped", null], [[27], "collision", [129.71]], [47, "success", null], [54, "lost_success", null], [71, "success", null], [72, "lost_success", null], [88, "success", null], [114, "lost_success", null], [116, "success", null], [117, "lost_success", null], [118, "success", null], [127, "lost_success", null], [144, "success", null], [149, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "success", null], [168, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 219, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 46, + "init_config_idx": 1, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [43.74]], [16, "contact", null], [17, "grasped", null], [36, "success", null], [41, "lost_success", null], [42, "success", null], [45, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [[61], "collision", [157.51]], [62, "success", null], [[62], "collision", [156.01]], [63, "lost_success", null], [[63], "collision", [140.86]], [64, "success", null], [[64], "collision", [114.6]], [65, "lost_success", null], [[65], "collision", [168.47]], [66, "success", null], [[66, 67], "collision", [153.87, 169.55]], [68, "lost_success", null], [[68, 69, 70, 71, 72, 73, 74, 75], "collision", [177.09, 178.39, 167.31, 92.19, 89.86, 81.76, 68.36, 61.0]], [76, "success", null], [[76, 77, 78, 79, 80], "collision", [56.19, 54.1, 52.39, 48.14, 49.46]], [81, "lost_success", null], [[81], "collision", [68.23]], [82, "success", null], [[82, 83, 84, 85, 86, 87], "collision", [73.05, 66.29, 55.15, 57.18, 54.12, 56.6]], [88, "lost_success", null], [[88, 89], "collision", [45.74, 48.89]], [90, "success", null], [[90, 91, 92, 93, 94], "collision", [45.49, 47.21, 45.92, 39.18, 46.68]], [95, "lost_success", null], [[96, 97, 98, 99], "collision", [25.14, 38.96, 18.52, 32.22]], [100, "success", null], [[100], "collision", [43.82]], [102, "lost_success", null], [[102], "collision", [23.68]], [104, "success", null], [[104, 105, 106, 107, 108], "collision", [26.3, 48.28, 42.49, 59.18, 32.32]], [112, "lost_success", null], [116, "success", null], [122, "lost_success", null], [126, "success", null], [130, "lost_success", null], [138, "success", null], [173, "lost_success", null], [181, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 220, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 41, + "init_config_idx": 33, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [26, "lost_contact", null], [[26, 27, 28], "collision", [0.63, 0.08, 0.63]], [29, "contact", null], [30, "grasped", null], [54, "success", null], [55, "lost_success", null], [[55], "collision", [33.78]], [56, "success", null], [[56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [51.18, 27.4, 19.52, 25.75, 33.32, 49.38, 35.83, 31.59, 30.21, 28.46, 21.64, 9.91, 21.38, 17.71, 24.7, 14.79, 23.02, 38.24, 39.15, 30.65, 28.02, 37.01, 40.46]], [79, "lost_success", null], [[79], "collision", [23.22]], [93, "success", null], [133, "lost_success", null], [134, "success", null], [161, "lost_success", null], [164, "success", null], [173, "lost_success", null], [176, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 221, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 14, + "init_config_idx": 9, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [23, "success", null], [27, "lost_success", null], [28, "success", null], [29, "lost_success", null], [31, "success", null], [32, "lost_success", null], [54, "success", null], [[54, 55, 56, 57, 58, 59, 60, 65, 66], "collision", [199.65, 350.01, 144.51, 223.68, 117.32, 275.06, 320.9, 674.79, 414.72]], [67, "lost_success", null], [[67, 68, 69, 70, 71], "collision", [175.18, 157.55, 123.61, 72.05, 103.49]], [72, "success", null], [[72], "collision", [306.49]], [73, "lost_success", null], [[73, 74, 75, 76], "collision", [114.68, 91.67, 167.12, 81.12]], [77, "success", null], [[77, 78, 79], "collision", [76.23, 83.28, 23.61]], [91, "lost_success", null], [98, "success", null], [100, "lost_success", null], [104, "success", null], [113, "lost_success", null], [118, "success", null], [122, "lost_success", null], [140, "success", null], [141, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 222, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 38, + "init_config_idx": 19, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 12], "collision", [338.24, 557.07]], [13, "contact", null], [14, "lost_contact", null], [[21], "collision", [1693.9]], [23, "contact", null], [28, "grasped", null], [[36, 37, 38], "collision", [110.71, 114.83, 84.14]], [58, "success", null], [67, "lost_success", null], [86, "success", null], [87, "lost_success", null], [88, "success", null], [89, "lost_success", null], [108, "success", null], [109, "lost_success", null], [110, "success", null], [121, "lost_success", null], [125, "success", null], [132, "lost_success", null], [133, "success", null], [152, "lost_success", null], [171, "success", null], [182, "lost_success", null], [183, "success", null], [184, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 223, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 9, + "init_config_idx": 16, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [1819.94]], [23, "contact", null], [[23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34], "collision", [423.96, 2.08, 131.73, 217.83, 572.38, 188.48, 131.51, 83.97, 0.43, 1.02, 0.53]], [36, "lost_contact", null], [[36], "collision", [0.09]], [37, "contact", null], [38, "lost_contact", null], [42, "contact", null], [43, "lost_contact", null], [44, "contact", null], [45, "grasped", null], [61, "success", null], [64, "lost_success", null], [75, "success", null], [79, "lost_success", null], [85, "success", null], [87, "lost_success", null], [97, "success", null], [102, "lost_success", null], [118, "success", null], [124, "lost_success", null], [125, "success", null], [127, "lost_success", null], [128, "success", null], [156, "lost_success", null], [159, "success", null], [191, "lost_success", null], [196, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 224, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 18, + "init_config_idx": 25, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [3247.43]], [20, "contact", null], [[20], "collision", [499.72]], [22, "grasped", null], [[32, 33], "collision", [51.55, 68.46]], [53, "success", null], [66, "lost_success", null], [72, "success", null], [81, "lost_success", null], [111, "success", null], [113, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 225, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 24, + "init_config_idx": 8, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[29, 30, 31, 32, 33, 34, 35, 36, 37, 38], "collision", [74.81, 98.57, 98.01, 97.05, 114.66, 115.92, 121.23, 116.4, 103.6, 85.58]], [44, "success", null], [120, "lost_success", null], [[126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [49.04, 49.24, 43.8, 34.62, 29.32, 27.99, 32.24, 33.75, 29.36]], [135, "success", null], [[135, 136, 137, 138, 139, 140, 141, 142, 143, 157, 158, 159, 160, 161], "collision", [33.85, 36.69, 32.5, 27.53, 22.4, 25.07, 18.22, 32.42, 7.2, 40.61, 27.31, 29.78, 28.78, 33.47]], [162, "lost_success", null], [[163, 164, 165], "collision", [82.77, 55.36, 37.26]], [168, "success", null], [176, "lost_success", null], [177, "success", null], [[185], "collision", [241.12]], [187, "lost_success", null], [189, "success", null], [190, "lost_success", null], [191, "success", null], [193, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 226, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 2, + "init_config_idx": 21, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 9], "collision", [1904.25, 341.97, 324.15, 232.21, 194.28, 193.36]], [13, "contact", null], [14, "grasped", null], [[18], "collision", [565.54]], [28, "success", null], [34, "lost_success", null], [36, "success", null], [37, "lost_success", null], [40, "success", null], [43, "lost_success", null], [57, "success", null], [62, "lost_success", null], [63, "success", null], [81, "lost_success", null], [105, "success", null], [109, "lost_success", null], [113, "success", null], [119, "lost_success", null], [138, "success", null], [141, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 227, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 38, + "init_config_idx": 27, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [264.76, 207.73, 179.51]], [14, "contact", null], [14, "grasped", null], [29, "success", null], [39, "lost_success", null], [42, "success", null], [43, "lost_success", null], [53, "success", null], [55, "lost_success", null], [[60, 61, 62], "collision", [33.67, 43.35, 39.37]], [63, "success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [51.03, 45.57, 48.25, 49.76, 57.51, 70.79, 59.46, 51.34, 81.55, 125.13, 97.03, 57.89, 45.68, 42.47, 38.61]], [78, "lost_success", null], [[78], "collision", [30.03]], [79, "success", null], [[79, 80], "collision", [25.1, 29.68]], [81, "lost_success", null], [[81], "collision", [4.97]], [82, "success", null], [[82, 83, 84, 85, 86, 87, 88, 89, 90, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109], "collision", [22.38, 47.81, 46.19, 38.45, 113.14, 102.27, 130.62, 63.01, 70.52, 117.89, 76.09, 79.74, 56.49, 40.81, 53.82, 72.01, 107.41, 109.84, 109.08, 88.87, 28.52, 28.37, 24.74, 33.38, 18.48, 40.98, 45.64]], [110, "lost_success", null], [[110, 111, 112], "collision", [18.7, 21.0, 32.9]], [116, "success", null], [[116], "collision", [79.72]], [118, "lost_success", null], [123, "success", null], [133, "lost_success", null], [134, "success", null], [144, "lost_success", null], [145, "success", null], [157, "lost_success", null], [158, "success", null], [160, "lost_success", null], [177, "success", null], [188, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 228, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 23, + "init_config_idx": 9, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30], "collision", [246.3, 232.66, 145.71, 149.62, 116.79, 621.53, 85.43, 53.07, 175.27, 329.65, 425.29]], [31, "contact", null], [[31], "collision", [11.52]], [32, "grasped", null], [57, "success", null], [100, "lost_success", null], [106, "success", null], [108, "lost_success", null], [116, "success", null], [118, "lost_success", null], [135, "success", null], [138, "lost_success", null], [140, "success", null], [169, "lost_success", null], [175, "success", null], [176, "lost_success", null], [177, "success", null], [178, "lost_success", null], [180, "success", null], [181, "lost_success", null], [182, "success", null], [187, "lost_success", null], [191, "success", null], [192, "lost_success", null], [193, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 229, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 36, + "init_config_idx": 25, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [25, "grasped", null], [[36, 37, 38, 39, 40, 41, 42, 43], "collision", [266.79, 93.56, 89.78, 83.13, 81.06, 80.06, 77.31, 85.66]], [50, "success", null], [65, "lost_success", null], [[65], "collision", [273.66]], [66, "success", null], [[66, 67, 68, 69, 72, 75, 77, 78, 79], "collision", [90.59, 217.17, 144.44, 133.18, 0.48, 101.38, 87.15, 81.56, 61.89]], [131, "lost_success", null], [140, "success", null], [171, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 230, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 30, + "init_config_idx": 38, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [17, "lost_contact", null], [18, "contact", null], [19, "lost_contact", null], [20, "contact", null], [20, "grasped", null], [[30], "collision", [46.77]], [37, "success", null], [38, "lost_success", null], [39, "success", null], [45, "lost_success", null], [49, "success", null], [53, "lost_success", null], [63, "success", null], [65, "lost_success", null], [66, "success", null], [86, "lost_success", null], [87, "success", null], [88, "lost_success", null], [89, "success", null], [91, "lost_success", null], [102, "success", null], [108, "lost_success", null], [111, "success", null], [121, "lost_success", null], [133, "success", null], [144, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 231, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 35, + "init_config_idx": 36, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [39, "success", null], [65, "lost_success", null], [68, "success", null], [[72, 73, 74, 75], "collision", [0.0, 0.04, 0.04, 0.06]], [80, "lost_success", null], [84, "success", null], [87, "lost_success", null], [92, "success", null], [115, "lost_success", null], [116, "success", null], [120, "lost_success", null], [[122, 123, 125, 126, 127], "collision", [0.03, 0.03, 0.02, 0.02, 0.02]], [133, "success", null], [142, "lost_success", null], [144, "success", null], [158, "lost_success", null], [165, "success", null], [167, "lost_success", null], [168, "success", null], [187, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 232, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 29, + "init_config_idx": 1, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [27, "grasped", null], [49, "success", null], [53, "lost_success", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [69, "lost_success", null], [86, "success", null], [91, "lost_success", null], [92, "success", null], [94, "lost_success", null], [96, "success", null], [97, "lost_success", null], [100, "success", null], [139, "lost_success", null], [157, "success", null], [169, "lost_success", null], [174, "success", null], [175, "lost_success", null], [187, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 233, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 33, + "init_config_idx": 18, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [38, "success", null], [41, "lost_success", null], [[63, 65, 68, 72, 76, 79, 81, 82, 85, 86, 87, 88, 89, 90, 91, 92, 94, 95, 98, 99, 101, 129], "collision", [549.86, 251.1, 16.07, 238.59, 101.48, 341.41, 453.78, 69.32, 109.33, 29.58, 101.98, 18.25, 98.81, 82.2, 0.8, 74.54, 76.33, 86.97, 8.41, 87.51, 62.13, 22.29]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 234, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 6, + "init_config_idx": 7, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [63, "success", null], [66, "lost_success", null], [81, "success", null], [91, "lost_success", null], [92, "success", null], [93, "lost_success", null], [94, "success", null], [97, "lost_success", null], [100, "success", null], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [104, "success", null], [153, "lost_success", null], [161, "success", null], [187, "lost_success", null], [194, "success", null], [197, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 235, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 65, + "init_config_idx": 11, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [50, "success", null], [57, "lost_success", null], [58, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [65, "success", null], [67, "lost_success", null], [[68], "collision", [33.52]], [69, "success", null], [[69, 70, 71, 72, 73, 74, 75], "collision", [20.94, 41.74, 43.86, 59.69, 59.52, 61.9, 52.05]], [76, "lost_success", null], [[76, 77, 78, 79, 80, 81, 82, 83], "collision", [47.03, 29.93, 39.16, 19.22, 25.36, 26.31, 35.55, 25.13]], [84, "success", null], [[84], "collision", [32.6]], [85, "lost_success", null], [[85, 86, 87, 88, 89], "collision", [43.61, 64.52, 58.8, 34.16, 28.24]], [90, "success", null], [[90, 92], "collision", [16.99, 24.5]], [93, "lost_success", null], [[93], "collision", [17.65]], [94, "success", null], [[94], "collision", [7.42]], [115, "lost_success", null], [116, "success", null], [[118], "collision", [4.74]], [119, "lost_success", null], [120, "success", null], [123, "lost_success", null], [135, "success", null], [136, "lost_success", null], [[144], "collision", [68.37]], [145, "success", null], [[145, 146, 147, 148, 149, 150, 151, 153, 154, 155, 156], "collision", [46.19, 53.46, 55.93, 17.8, 38.03, 15.23, 57.12, 54.5, 36.86, 22.96, 47.24]], [157, "lost_success", null], [[157], "collision", [35.16]], [158, "success", null], [[158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186], "collision", [56.64, 77.72, 74.99, 73.2, 71.33, 73.95, 65.17, 69.73, 74.11, 73.79, 78.72, 63.09, 73.08, 72.62, 64.01, 54.25, 6.41, 79.79, 73.56, 77.88, 76.26, 73.43, 59.89, 71.56, 80.85, 75.5, 77.45, 76.03, 75.97]], [187, "lost_success", null], [[187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [82.89, 80.85, 82.28, 70.72, 64.84, 64.35, 75.24, 67.02, 67.73, 70.68, 61.16, 62.44]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 236, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 52, + "init_config_idx": 21, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18], "collision", [813.37, 398.38, 240.44]], [19, "contact", null], [19, "grasped", null], [[23, 24], "collision", [67.72, 84.61]], [41, "success", null], [42, "lost_success", null], [43, "success", null], [45, "lost_success", null], [[45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90], "collision", [3.26, 2.38, 1.57, 1.25, 0.15, 0.18, 0.18, 0.19, 0.2, 0.27, 0.2, 0.2, 0.17, 0.18, 0.15, 0.17, 0.15, 0.2, 0.17, 0.2, 0.16, 0.2, 0.2, 0.25, 0.23, 0.26, 0.25, 0.26, 0.26, 0.26, 0.22, 0.16, 0.19, 0.15, 0.06, 0.14, 0.09, 0.16, 0.12, 0.17, 0.12, 0.1, 0.08, 0.09, 0.08, 0.15]], [91, "success", null], [[91, 92, 93], "collision", [0.1, 0.16, 0.15]], [94, "lost_success", null], [[94, 95, 96, 97, 98], "collision", [0.17, 0.19, 0.18, 0.17, 0.17]], [99, "success", null], [[99, 100, 101, 102], "collision", [0.17, 0.14, 0.17, 0.17]], [103, "lost_success", null], [[103], "collision", [0.06]], [107, "success", null], [108, "lost_success", null], [109, "success", null], [112, "lost_success", null], [113, "success", null], [118, "lost_success", null], [120, "success", null], [121, "lost_success", null], [126, "success", null], [127, "lost_success", null], [129, "success", null], [130, "lost_success", null], [135, "success", null], [136, "lost_success", null], [145, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 237, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 22, + "init_config_idx": 15, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [47, "success", null], [57, "lost_success", null], [67, "success", null], [78, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [99, "lost_success", null], [[136, 137, 138], "collision", [22.01, 13.26, 14.83]], [139, "success", null], [[139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 152, 153, 154, 162, 163], "collision", [14.6, 12.32, 12.98, 13.88, 13.98, 12.95, 11.7, 9.81, 8.62, 7.22, 6.07, 2.99, 6.74, 6.33, 9.83, 13.51, 12.99]], [164, "lost_success", null], [[164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187], "collision", [11.06, 11.48, 52.01, 13.24, 13.81, 17.26, 14.5, 15.22, 12.62, 15.13, 13.84, 15.09, 14.2, 14.08, 13.4, 15.29, 16.28, 14.19, 11.72, 14.64, 11.26, 10.24, 8.98, 5.49]], [188, "success", null], [[188, 189, 190], "collision", [11.81, 13.34, 12.02]], [191, "lost_success", null], [[191], "collision", [12.93]], [192, "success", null], [195, "lost_success", null], [198, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 238, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 5, + "init_config_idx": 42, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 4, 19], "collision", [736.74, 183.19, 171.59, 537.18]], [23, "contact", null], [25, "grasped", null], [58, "success", null], [61, "lost_success", null], [63, "success", null], [[65, 66, 67, 68, 69], "collision", [22.62, 34.56, 59.67, 77.31, 56.41]], [70, "lost_success", null], [[70, 71, 72, 73, 74], "collision", [58.15, 39.48, 15.15, 8.3, 8.41]], [75, "success", null], [77, "lost_success", null], [84, "success", null], [88, "lost_success", null], [93, "success", null], [94, "lost_success", null], [[94, 95, 96, 97, 98], "collision", [99.5, 112.76, 73.09, 42.66, 12.28]], [102, "success", null], [107, "lost_success", null], [110, "success", null], [111, "lost_success", null], [116, "success", null], [117, "lost_success", null], [[118, 119, 121], "collision", [77.93, 66.27, 45.25]], [122, "success", null], [[122, 123], "collision", [50.81, 167.45]], [124, "lost_success", null], [[124], "collision", [7.03]], [125, "success", null], [[125, 126, 127], "collision", [208.4, 78.27, 115.55]], [128, "lost_success", null], [[128], "collision", [70.64]], [129, "success", null], [[129, 130, 131, 132, 133, 134], "collision", [64.5, 118.42, 49.3, 23.35, 53.16, 71.66]], [135, "lost_success", null], [[135], "collision", [73.62]], [136, "success", null], [[136, 137, 138, 139, 140, 142], "collision", [83.17, 171.77, 107.6, 95.49, 148.54, 90.98]], [143, "lost_success", null], [144, "success", null], [[147, 148], "collision", [67.07, 50.16]], [149, "lost_success", null], [[149, 150, 152], "collision", [49.66, 52.8, 35.2]], [153, "success", null], [[155, 156, 157, 158, 159, 160], "collision", [35.32, 14.02, 8.67, 22.75, 36.41, 41.65]], [161, "lost_success", null], [163, "success", null], [165, "lost_success", null], [174, "success", null], [175, "lost_success", null], [176, "success", null], [182, "lost_success", null], [187, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 239, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 54, + "init_config_idx": 29, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [463.46, 233.65, 163.2]], [13, "contact", null], [[14], "collision", [2.24]], [15, "grasped", null], [34, "success", null], [36, "lost_success", null], [45, "success", null], [49, "lost_success", null], [56, "success", null], [57, "lost_success", null], [96, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [114, "lost_success", null], [143, "success", null], [146, "lost_success", null], [147, "success", null], [149, "lost_success", null], [155, "success", null], [171, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 240, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 20, + "init_config_idx": 43, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [61, "success", null], [70, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 241, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 49, + "init_config_idx": 39, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 12, 13], "collision", [414.02, 222.24, 167.49, 91.59, 145.15]], [17, "contact", null], [17, "grasped", null], [36, "success", null], [40, "lost_success", null], [45, "success", null], [47, "lost_success", null], [67, "success", null], [141, "lost_success", null], [149, "success", null], [151, "lost_success", null], [165, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 242, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 37, + "init_config_idx": 43, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [[17, 18, 19, 20], "collision", [51.39, 9.08, 100.74, 87.59]], [21, "lost_contact", null], [[21], "collision", [56.07]], [22, "contact", null], [[22, 23, 24, 25, 26], "collision", [161.33, 197.7, 131.9, 66.99, 72.24]], [27, "grasped", null], [[27, 28, 30, 33], "collision", [136.96, 6.29, 0.19, 0.14]], [56, "success", null], [62, "lost_success", null], [[63], "collision", [0.06]], [64, "success", null], [[64], "collision", [0.18]], [68, "lost_success", null], [[75, 88, 95, 96], "collision", [0.3, 0.29, 71.62, 19.34]], [97, "success", null], [[97, 98], "collision", [12.23, 18.72]], [99, "lost_success", null], [[99, 100, 101, 102, 103, 104], "collision", [47.4, 79.23, 30.01, 45.1, 27.77, 30.89]], [105, "success", null], [[106], "collision", [16.43]], [107, "lost_success", null], [[107, 108, 109, 111, 112, 113], "collision", [39.98, 51.86, 6.81, 67.02, 43.48, 59.44]], [115, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 243, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 54, + "init_config_idx": 57, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [26, "lost_contact", null], [27, "contact", null], [30, "lost_contact", null], [38, "contact", null], [38, "grasped", null], [[48], "collision", [82.41]], [62, "success", null], [74, "lost_success", null], [76, "success", null], [77, "lost_success", null], [84, "success", null], [91, "lost_success", null], [101, "success", null], [122, "lost_success", null], [137, "success", null], [138, "lost_success", null], [168, "success", null], [170, "lost_success", null], [175, "success", null], [189, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 244, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 12, + "init_config_idx": 16, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [184.88]], [21, "contact", null], [22, "grasped", null], [[33, 34, 35, 36, 37], "collision", [89.6, 84.5, 93.46, 95.16, 95.24]], [45, "success", null], [50, "lost_success", null], [53, "success", null], [73, "lost_success", null], [76, "success", null], [100, "lost_success", null], [152, "success", null], [154, "lost_success", null], [177, "success", null], [189, "lost_success", null], [195, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 245, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 17, + "init_config_idx": 36, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 11], "collision", [1661.31, 395.27, 404.87, 328.27, 151.38, 150.62]], [15, "contact", null], [15, "grasped", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [46, "lost_success", null], [47, "success", null], [[47, 48, 49, 50, 51, 52, 53, 54], "collision", [2.51, 40.64, 30.26, 20.83, 9.93, 18.96, 17.98, 7.02]], [58, "lost_success", null], [60, "success", null], [62, "lost_success", null], [67, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [81, "success", null], [82, "lost_success", null], [84, "success", null], [86, "lost_success", null], [93, "success", null], [101, "lost_success", null], [102, "success", null], [109, "lost_success", null], [116, "success", null], [135, "lost_success", null], [136, "success", null], [138, "lost_success", null], [140, "success", null], [144, "lost_success", null], [145, "success", null], [158, "lost_success", null], [163, "success", null], [193, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 246, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 13, + "init_config_idx": 0, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 7, 8], "collision", [228.93, 1437.69, 254.25]], [13, "contact", null], [13, "grasped", null], [29, "success", null], [[46, 47, 48, 49, 50], "collision", [125.14, 42.6, 42.21, 43.85, 32.66]], [51, "lost_success", null], [[51], "collision", [26.24]], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 99, 100, 101], "collision", [24.28, 41.3, 49.63, 51.69, 42.19, 42.45, 38.08, 33.4, 34.73, 31.47, 38.62, 40.51, 42.35, 32.19, 38.23, 36.05, 37.12, 33.45, 33.26, 52.99, 25.68, 29.02, 30.83, 32.29, 31.61, 53.91, 29.64, 37.68, 35.21, 40.97, 40.08, 41.5, 39.78, 42.69, 42.39, 41.75, 39.3, 39.33, 42.99, 38.82, 35.29, 40.15, 38.37, 33.54, 36.9, 33.47, 23.8, 28.27]], [102, "lost_success", null], [[102], "collision", [21.74]], [104, "success", null], [118, "lost_success", null], [122, "success", null], [136, "lost_success", null], [144, "success", null], [145, "lost_success", null], [161, "success", null], [165, "lost_success", null], [171, "success", null], [192, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 247, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 25, + "init_config_idx": 22, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17, 22, 23, 24, 25, 26, 27, 28, 29], "collision", [217.59, 159.69, 310.23, 513.79, 174.26, 475.35, 257.92, 207.63, 105.82, 135.63, 42.13]], [30, "contact", null], [[30, 31, 32, 33], "collision", [182.87, 17.91, 69.01, 81.16]], [34, "lost_contact", null], [35, "contact", null], [36, "grasped", null], [56, "success", null], [61, "lost_success", null], [62, "success", null], [80, "lost_success", null], [81, "success", null], [88, "lost_success", null], [91, "success", null], [117, "lost_success", null], [121, "success", null], [126, "lost_success", null], [127, "success", null], [128, "lost_success", null], [131, "success", null], [132, "lost_success", null], [135, "success", null], [138, "lost_success", null], [139, "success", null], [140, "lost_success", null], [141, "success", null], [157, "lost_success", null], [159, "success", null], [188, "lost_success", null], [189, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 248, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 13, + "init_config_idx": 0, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [[23], "collision", [0.92]], [26, "grasped", null], [47, "success", null], [54, "lost_success", null], [56, "success", null], [57, "lost_success", null], [63, "success", null], [69, "lost_success", null], [73, "success", null], [83, "lost_success", null], [101, "success", null], [124, "lost_success", null], [126, "success", null], [135, "lost_success", null], [136, "success", null], [141, "lost_success", null], [143, "success", null], [191, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 249, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 25, + "init_config_idx": 7, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [2.01]], [17, "contact", null], [[17, 19, 20, 21], "collision", [1.71, 28.37, 103.09, 334.52]], [22, "grasped", null], [[22, 23, 24, 25, 26], "collision", [221.96, 47.06, 1.49, 62.45, 1.93]], [35, "success", null], [38, "lost_success", null], [47, "success", null], [59, "lost_success", null], [68, "success", null], [94, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 250, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 36, + "init_config_idx": 30, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [3326.89, 210.94]], [15, "contact", null], [15, "grasped", null], [30, "success", null], [31, "lost_success", null], [32, "success", null], [52, "lost_success", null], [68, "success", null], [119, "lost_success", null], [120, "success", null], [133, "lost_success", null], [156, "success", null], [157, "lost_success", null], [177, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 251, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 20, + "init_config_idx": 0, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [11, "lost_contact", null], [15, "contact", null], [16, "lost_contact", null], [[16], "collision", [0.43]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38], "collision", [0.73, 0.96, 1.31, 1.27, 1.84, 1.78, 0.95, 0.84, 0.95, 1.46, 61.76, 71.17, 71.42, 0.8, 0.76, 1.18, 0.94, 0.92, 0.9, 0.68, 0.86, 0.7]], [39, "success", null], [[39], "collision", [0.78]], [40, "lost_success", null], [[40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [0.69, 0.64, 0.73, 0.79, 0.91, 0.84, 0.75, 0.78, 0.86, 0.77, 0.85, 0.88, 0.95, 0.89, 1.22]], [55, "success", null], [[55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72], "collision", [0.82, 0.96, 0.92, 0.81, 0.81, 0.72, 0.98, 0.9, 0.89, 0.87, 0.9, 0.86, 0.86, 0.87, 0.85, 0.84, 0.82, 0.85]], [73, "lost_success", null], [[73, 74], "collision", [0.89, 0.77]], [75, "success", null], [[75, 76, 77, 78, 79], "collision", [0.92, 0.93, 0.89, 0.82, 0.92]], [80, "lost_success", null], [[80, 81, 82], "collision", [0.86, 0.94, 0.82]], [83, "success", null], [[83, 84], "collision", [0.93, 0.7]], [85, "lost_success", null], [[85, 86], "collision", [0.95, 0.86]], [87, "success", null], [[87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103], "collision", [0.85, 0.78, 0.79, 0.67, 0.69, 0.71, 0.74, 0.64, 0.72, 0.72, 0.62, 0.56, 0.67, 0.65, 0.68, 0.76, 0.82]], [104, "lost_success", null], [[104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142], "collision", [0.69, 0.77, 0.75, 0.77, 0.79, 0.85, 0.81, 0.85, 0.79, 0.78, 0.77, 0.73, 0.69, 0.49, 0.76, 0.72, 0.63, 0.77, 0.62, 0.76, 0.71, 0.71, 0.93, 0.79, 0.83, 0.8, 0.71, 0.81, 0.88, 0.81, 0.69, 0.84, 1.38, 0.87, 0.96, 0.93, 0.86, 1.48, 1.16]], [143, "success", null], [[143, 144, 145, 146, 147], "collision", [0.8, 0.88, 1.38, 0.8, 0.94]], [148, "lost_success", null], [[148, 149, 150, 151, 152, 153], "collision", [0.75, 0.93, 0.82, 1.39, 1.05, 1.82]], [154, "success", null], [[154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165], "collision", [1.63, 1.24, 1.07, 1.27, 1.47, 1.75, 1.34, 1.53, 1.54, 1.93, 1.48, 1.26]], [166, "lost_success", null], [[166], "collision", [1.73]], [167, "success", null], [[167, 168, 169, 170, 171], "collision", [9.97, 10.19, 6.27, 6.17, 7.37]], [172, "lost_success", null], [[172], "collision", [0.84]], [173, "success", null], [[173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186], "collision", [0.99, 0.88, 0.95, 0.88, 1.08, 1.03, 0.89, 0.91, 1.18, 1.78, 0.82, 1.19, 1.53, 1.23]], [187, "lost_success", null], [[187, 188], "collision", [1.17, 0.85]], [189, "success", null], [[189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.81, 1.07, 1.09, 1.02, 1.02, 1.17, 1.06, 1.2, 0.9, 1.16, 0.77]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 252, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 54, + "init_config_idx": 56, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [122.41]], [14, "contact", null], [16, "grasped", null], [[24, 26, 28], "collision", [117.13, 68.72, 39.84]], [36, "success", null], [48, "lost_success", null], [50, "success", null], [84, "lost_success", null], [86, "success", null], [[199], "collision", [43.64]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 253, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 16, + "init_config_idx": 34, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9], "collision", [323.59, 245.4, 159.95, 175.07, 201.66]], [11, "contact", null], [13, "grasped", null], [24, "success", null], [26, "lost_success", null], [28, "success", null], [32, "lost_success", null], [37, "success", null], [40, "lost_success", null], [47, "success", null], [84, "lost_success", null], [98, "success", null], [115, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 254, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 44, + "init_config_idx": 1, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [306.51, 93.55]], [18, "contact", null], [19, "grasped", null], [44, "success", null], [49, "lost_success", null], [50, "success", null], [52, "lost_success", null], [53, "success", null], [61, "lost_success", null], [75, "success", null], [125, "lost_success", null], [126, "success", null], [127, "lost_success", null], [130, "success", null], [142, "lost_success", null], [143, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 255, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 14, + "init_config_idx": 29, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [17, "lost_contact", null], [[33, 34, 35, 36, 37, 38, 39, 40, 41, 42], "collision", [2479.79, 185.01, 250.06, 248.5, 243.85, 235.37, 228.48, 165.02, 126.77, 28.49]], [53, "contact", null], [55, "lost_contact", null], [56, "contact", null], [[56], "collision", [13.72]], [59, "grasped", null], [126, "success", null], [127, "lost_success", null], [147, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [164, "success", null], [167, "lost_success", null], [169, "success", null], [170, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 256, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 26, + "init_config_idx": 33, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [[22], "collision", [1.67]], [23, "grasped", null], [[30], "collision", [166.05]], [43, "success", null], [54, "lost_success", null], [57, "success", null], [58, "lost_success", null], [60, "success", null], [85, "lost_success", null], [88, "success", null], [89, "lost_success", null], [90, "success", null], [115, "lost_success", null], [117, "success", null], [119, "lost_success", null], [138, "success", null], [139, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 257, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 14, + "init_config_idx": 40, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "grasped", null], [[23, 25, 27], "collision", [297.39, 12.91, 29.68]], [29, "success", null], [42, "lost_success", null], [43, "success", null], [49, "lost_success", null], [50, "success", null], [59, "lost_success", null], [60, "success", null], [111, "lost_success", null], [129, "success", null], [130, "lost_success", null], [147, "success", null], [153, "lost_success", null], [155, "success", null], [156, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 258, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 29, + "init_config_idx": 1, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [[35, 36, 37, 42], "collision", [250.18, 96.88, 95.19, 95.23]], [49, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [54, "success", null], [58, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [67, "success", null], [[67], "collision", [217.96]], [68, "lost_success", null], [[68, 69], "collision", [145.77, 148.94]], [70, "success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 78, 79], "collision", [118.95, 118.5, 77.07, 82.54, 99.27, 53.73, 78.09, 50.92, 9.11, 78.42]], [109, "lost_success", null], [113, "success", null], [137, "lost_success", null], [139, "success", null], [146, "lost_success", null], [157, "success", null], [163, "lost_success", null], [172, "success", null], [176, "lost_success", null], [181, "success", null], [182, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 259, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 43, + "init_config_idx": 32, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [28, "grasped", null], [50, "success", null], [58, "lost_success", null], [59, "success", null], [61, "lost_success", null], [62, "success", null], [146, "lost_success", null], [147, "success", null], [155, "lost_success", null], [156, "success", null], [160, "lost_success", null], [169, "success", null], [172, "lost_success", null], [177, "success", null], [184, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 260, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 48, + "init_config_idx": 20, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [38, "success", null], [41, "lost_success", null], [67, "success", null], [83, "lost_success", null], [112, "success", null], [113, "lost_success", null], [115, "success", null], [121, "lost_success", null], [130, "success", null], [146, "lost_success", null], [152, "success", null], [160, "lost_success", null], [163, "success", null], [168, "lost_success", null], [187, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 261, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 0, + "init_config_idx": 3, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [31, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [46, "success", null], [50, "lost_success", null], [[53], "collision", [12.77]], [56, "success", null], [57, "lost_success", null], [58, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [[67, 68, 69, 70], "collision", [235.16, 113.89, 180.19, 121.23]], [71, "success", null], [[71, 72, 73], "collision", [196.51, 100.75, 128.12]], [74, "lost_success", null], [[74], "collision", [268.97]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [69.63, 47.79, 68.97, 61.49, 91.6, 37.86, 32.36, 123.16, 21.61, 32.2, 27.42, 33.92, 38.66, 60.02, 43.86]], [90, "lost_success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [98.47, 100.51, 36.87, 31.85, 30.81, 30.31, 57.9, 57.3, 64.29, 52.32]], [100, "success", null], [[100, 101, 102], "collision", [62.06, 81.72, 57.11]], [103, "lost_success", null], [[103, 104, 105, 106, 107], "collision", [47.54, 44.51, 53.23, 32.63, 40.98]], [108, "success", null], [[108, 109, 110, 111, 112, 113, 114, 115, 116], "collision", [48.88, 90.53, 82.68, 85.16, 106.47, 78.52, 46.13, 32.76, 47.87]], [123, "lost_success", null], [127, "success", null], [131, "lost_success", null], [132, "success", null], [133, "lost_success", null], [142, "success", null], [143, "lost_success", null], [158, "success", null], [164, "lost_success", null], [170, "success", null], [175, "lost_success", null], [177, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 262, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 2, + "init_config_idx": 36, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 20, 21], "collision", [454.74, 5.22, 634.98, 580.55]], [22, "contact", null], [[22], "collision", [580.92]], [26, "grasped", null], [[26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43], "collision", [3.0, 2.29, 44.81, 51.34, 107.7, 46.92, 20.14, 22.26, 21.62, 2.01, 2.33, 2.02, 2.03, 2.07, 2.03, 2.17, 1.98, 1.97]], [44, "success", null], [[44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56], "collision", [1.93, 2.04, 2.0, 2.03, 2.2, 2.13, 2.18, 1.99, 2.15, 2.23, 2.1, 2.21, 1.98]], [57, "lost_success", null], [[57, 58, 59, 60], "collision", [2.28, 2.08, 1.97, 2.2]], [61, "success", null], [[61], "collision", [2.16]], [62, "lost_success", null], [[62], "collision", [2.22]], [63, "success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71], "collision", [2.2, 2.29, 2.13, 2.3, 2.17, 2.25, 2.28, 2.3, 2.15]], [72, "lost_success", null], [[72, 73, 74, 75, 76, 77, 78, 79], "collision", [2.04, 1.95, 2.02, 2.28, 1.98, 2.22, 2.02, 2.19]], [80, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90], "collision", [2.16, 2.27, 1.97, 2.17, 2.14, 2.21, 2.06, 2.0, 2.15, 2.1, 2.25]], [91, "lost_success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164], "collision", [2.13, 2.3, 1.92, 2.18, 2.25, 2.07, 2.31, 2.15, 2.21, 2.15, 2.3, 2.24, 1.99, 2.27, 2.3, 2.07, 2.1, 2.3, 2.17, 2.24, 2.25, 2.14, 2.27, 2.15, 2.38, 2.34, 2.36, 2.47, 2.43, 1.74, 2.17, 1.9, 1.96, 2.02, 2.26, 2.22, 2.06, 1.99, 2.31, 2.05, 1.76, 2.2, 1.95, 2.23, 1.71, 1.83, 2.08, 1.73, 2.12, 2.16, 2.13, 2.05, 2.31, 2.27, 2.3, 1.58, 2.01, 1.78, 1.86, 1.73, 2.08, 1.74, 2.01, 2.18, 2.21, 2.22, 2.3, 2.23, 2.37, 2.36, 2.38, 2.16, 2.34, 2.18]], [165, "success", null], [[165], "collision", [2.34]], [166, "lost_success", null], [[166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [2.05, 2.2, 2.39, 2.12, 2.18, 2.26, 2.29, 2.34, 2.23, 1.96, 2.34, 2.19, 2.11, 2.09, 1.98, 2.08, 2.35, 2.15, 1.94, 2.03, 2.23, 2.08, 2.09, 2.3, 2.13, 2.36, 2.24, 2.19, 2.37, 2.16, 2.21, 2.28, 2.24, 2.32]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 263, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 12, + "init_config_idx": 13, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12], "collision", [731.76, 207.58, 170.12]], [14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [18, "grasped", null], [33, "success", null], [39, "lost_success", null], [64, "success", null], [89, "lost_success", null], [91, "success", null], [143, "lost_success", null], [144, "success", null], [158, "lost_success", null], [166, "success", null], [190, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 264, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 38, + "init_config_idx": 39, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[23, 24], "collision", [115.91, 36.7]], [39, "success", null], [52, "lost_success", null], [55, "success", null], [155, "lost_success", null], [159, "success", null], [179, "lost_success", null], [182, "success", null], [194, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 265, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 29, + "init_config_idx": 15, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 14, 15], "collision", [597.61, 178.5, 238.26, 189.08, 163.74, 71.5]], [17, "contact", null], [[18, 19, 20, 21], "collision", [9.0, 11.01, 6.06, 9.96]], [22, "grasped", null], [42, "success", null], [55, "lost_success", null], [56, "success", null], [67, "lost_success", null], [79, "success", null], [85, "lost_success", null], [88, "success", null], [89, "lost_success", null], [99, "success", null], [116, "lost_success", null], [117, "success", null], [119, "lost_success", null], [127, "success", null], [134, "lost_success", null], [148, "success", null], [155, "lost_success", null], [[161], "collision", [42.23]], [167, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [174, "success", null], [178, "lost_success", null], [188, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 266, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 9, + "init_config_idx": 10, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [71, "lost_success", null], [78, "success", null], [81, "lost_success", null], [82, "success", null], [96, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [118, "lost_success", null], [143, "success", null], [145, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 267, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 32, + "init_config_idx": 15, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6], "collision", [304.34, 110.2, 267.05]], [13, "contact", null], [[13], "collision", [379.87]], [14, "lost_contact", null], [19, "contact", null], [19, "grasped", null], [35, "success", null], [38, "lost_success", null], [39, "success", null], [42, "lost_success", null], [43, "success", null], [48, "lost_success", null], [49, "success", null], [54, "lost_success", null], [60, "success", null], [75, "lost_success", null], [78, "success", null], [83, "lost_success", null], [[86], "collision", [28.93]], [87, "success", null], [[87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98], "collision", [41.06, 54.89, 54.51, 76.77, 92.5, 68.46, 55.13, 19.97, 26.35, 30.43, 55.09, 44.28]], [99, "lost_success", null], [[99], "collision", [27.9]], [100, "success", null], [[100, 101, 102, 103, 104, 105, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 142, 143, 144, 145, 147, 148], "collision", [27.9, 31.45, 38.58, 37.51, 35.1, 28.9, 25.83, 34.16, 32.95, 26.9, 18.31, 24.12, 20.11, 27.1, 25.8, 36.93, 33.89, 36.77, 41.45, 67.68, 55.55, 32.21, 24.71, 26.81, 40.22, 42.07, 66.47, 77.07, 81.26, 54.28, 35.93, 32.9, 39.27, 40.02, 53.91, 35.11, 42.27, 43.2, 49.55, 62.18, 74.37, 98.99, 97.85, 73.09, 63.77, 54.33]], [163, "lost_success", null], [165, "success", null], [166, "lost_success", null], [174, "success", null], [181, "lost_success", null], [182, "success", null], [188, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 268, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 4, + "init_config_idx": 28, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [32, "success", null], [54, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [[68, 71], "collision", [449.08, 20.91]], [75, "lost_success", null], [78, "success", null], [86, "lost_success", null], [91, "success", null], [94, "lost_success", null], [104, "success", null], [108, "lost_success", null], [132, "success", null], [166, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 269, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 39, + "init_config_idx": 33, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [28, "success", null], [29, "lost_success", null], [33, "success", null], [36, "lost_success", null], [45, "success", null], [47, "lost_success", null], [50, "success", null], [63, "lost_success", null], [71, "success", null], [107, "lost_success", null], [124, "success", null], [141, "lost_success", null], [[146], "collision", [19.77]], [147, "success", null], [[147, 148, 149, 151], "collision", [11.62, 12.62, 11.39, 10.82]], [152, "lost_success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165], "collision", [16.68, 15.9, 14.61, 14.4, 12.81, 12.41, 12.03, 11.29, 13.4, 11.18, 11.91, 12.68, 22.22, 9.79]], [166, "success", null], [[166, 167, 168, 169, 170], "collision", [9.88, 10.06, 11.25, 11.9, 9.98]], [184, "lost_success", null], [187, "success", null], [188, "lost_success", null], [192, "success", null], [195, "lost_success", null], [196, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 270, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 37, + "init_config_idx": 49, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [32, "success", null], [42, "lost_success", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [[61, 65, 66, 68], "collision", [0.1, 86.73, 12.66, 30.96]], [75, "lost_success", null], [89, "success", null], [101, "lost_success", null], [155, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 271, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 38, + "init_config_idx": 6, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 20, 21, 22, 23, 26], "collision", [177.65, 275.27, 929.99, 207.32, 137.61, 1495.32, 281.86]], [28, "contact", null], [30, "grasped", null], [57, "success", null], [[57], "collision", [0.1]], [59, "lost_success", null], [[59], "collision", [0.03]], [62, "success", null], [64, "lost_success", null], [72, "success", null], [80, "lost_success", null], [81, "success", null], [85, "lost_success", null], [95, "success", null], [96, "lost_success", null], [107, "success", null], [112, "lost_success", null], [113, "success", null], [124, "lost_success", null], [125, "success", null], [156, "lost_success", null], [157, "success", null], [192, "lost_success", null], [193, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 272, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 36, + "init_config_idx": 5, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "grasped", null], [25, "success", null], [26, "lost_success", null], [124, "success", null], [125, "lost_success", null], [128, "success", null], [129, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 273, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 56, + "init_config_idx": 11, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [[31, 32], "collision", [84.45, 73.89]], [40, "success", null], [51, "lost_success", null], [53, "success", null], [55, "lost_success", null], [56, "success", null], [[66, 67, 68, 69, 70, 71, 72, 73, 74, 76, 78, 79], "collision", [161.22, 202.27, 220.55, 259.83, 263.35, 240.1, 228.49, 242.41, 276.21, 183.55, 424.31, 525.65]], [81, "lost_success", null], [[81, 82, 83], "collision", [79.28, 127.35, 96.21]], [84, "success", null], [[84, 85, 87, 88], "collision", [87.06, 124.93, 111.23, 67.61]], [101, "lost_success", null], [109, "success", null], [141, "lost_success", null], [142, "success", null], [143, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 274, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 8, + "init_config_idx": 38, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[36], "collision", [70.44]], [43, "success", null], [58, "lost_success", null], [61, "success", null], [65, "lost_success", null], [[65], "collision", [179.5]], [66, "success", null], [[66], "collision", [35.32]], [67, "lost_success", null], [[67], "collision", [180.77]], [68, "success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 90, 91, 92, 93, 94, 95], "collision", [12.99, 55.82, 54.13, 72.27, 44.73, 62.28, 47.14, 51.3, 38.29, 40.85, 34.12, 19.24, 42.28, 92.13, 88.88, 106.29, 36.13, 106.1, 21.69]], [96, "lost_success", null], [[96], "collision", [93.72]], [97, "success", null], [[97, 98], "collision", [14.05, 75.52]], [153, "lost_success", null], [155, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 275, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 51, + "init_config_idx": 33, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19, 20, 21, 22], "collision", [236.09, 149.91, 148.46, 245.31]], [27, "contact", null], [[29], "collision", [0.36]], [31, "grasped", null], [47, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [69, "success", null], [95, "lost_success", null], [97, "success", null], [184, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 276, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 14, + "init_config_idx": 21, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [860.64, 201.67]], [17, "contact", null], [18, "grasped", null], [33, "success", null], [35, "lost_success", null], [46, "success", null], [48, "lost_success", null], [55, "success", null], [58, "lost_success", null], [60, "success", null], [70, "lost_success", null], [72, "success", null], [74, "lost_success", null], [75, "success", null], [84, "lost_success", null], [97, "success", null], [125, "lost_success", null], [131, "success", null], [135, "lost_success", null], [157, "success", null], [171, "lost_success", null], [172, "success", null], [175, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 277, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 30, + "init_config_idx": 31, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [18, "lost_contact", null], [20, "contact", null], [21, "grasped", null], [[26, 27, 28], "collision", [4.97, 95.3, 40.7]], [37, "success", null], [53, "lost_success", null], [55, "success", null], [57, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [72, "lost_success", null], [73, "success", null], [102, "lost_success", null], [108, "success", null], [109, "lost_success", null], [113, "success", null], [114, "lost_success", null], [119, "success", null], [121, "lost_success", null], [166, "success", null], [185, "lost_success", null], [189, "success", null], [190, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 278, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 53, + "init_config_idx": 20, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[42], "collision", [39.56]], [43, "success", null], [49, "lost_success", null], [56, "success", null], [119, "lost_success", null], [120, "success", null], [122, "lost_success", null], [124, "success", null], [126, "lost_success", null], [131, "success", null], [134, "lost_success", null], [135, "success", null], [138, "lost_success", null], [148, "success", null], [152, "lost_success", null], [163, "success", null], [166, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 279, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 4, + "init_config_idx": 9, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[20], "collision", [8.43]], [37, "success", null], [42, "lost_success", null], [63, "success", null], [65, "lost_success", null], [67, "success", null], [69, "lost_success", null], [70, "success", null], [78, "lost_success", null], [80, "success", null], [89, "lost_success", null], [90, "success", null], [106, "lost_success", null], [118, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 280, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 16, + "init_config_idx": 35, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[23, 24], "collision", [656.62, 261.68]], [31, "success", null], [35, "lost_success", null], [38, "success", null], [42, "lost_success", null], [[47], "collision", [3.35]], [50, "success", null], [58, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [67, "lost_success", null], [69, "success", null], [81, "lost_success", null], [108, "success", null], [112, "lost_success", null], [134, "success", null], [136, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 281, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 29, + "init_config_idx": 44, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [384.31, 246.73, 172.91, 72.54]], [17, "contact", null], [18, "lost_contact", null], [19, "contact", null], [20, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [50, "success", null], [53, "lost_success", null], [55, "success", null], [61, "lost_success", null], [[61], "collision", [19.7]], [62, "success", null], [[62], "collision", [17.84]], [63, "lost_success", null], [[63, 64, 65], "collision", [124.38, 66.89, 45.03]], [68, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [1.64, 22.05, 40.46, 48.87, 67.16, 63.09, 76.51, 49.97, 68.95, 63.42, 109.1, 98.71, 118.93, 92.66, 97.74, 65.95, 141.15]], [92, "lost_success", null], [[92, 102, 103, 104], "collision", [99.36, 68.7, 31.97, 35.66]], [105, "success", null], [[105, 106, 107, 108, 109, 110, 111, 112], "collision", [46.47, 37.94, 64.36, 77.38, 98.2, 90.75, 56.62, 52.13]], [113, "lost_success", null], [[113], "collision", [53.74]], [114, "success", null], [[114, 115, 116, 117, 118], "collision", [42.34, 37.76, 59.61, 71.82, 48.8]], [123, "lost_success", null], [130, "success", null], [136, "lost_success", null], [140, "success", null], [142, "lost_success", null], [144, "success", null], [153, "lost_success", null], [159, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 282, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 6, + "init_config_idx": 37, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [52, "lost_success", null], [54, "success", null], [56, "lost_success", null], [99, "success", null], [109, "lost_success", null], [138, "success", null], [170, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 283, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 28, + "init_config_idx": 24, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [87.14]], [20, "contact", null], [[22, 23], "collision", [2.66, 5.25]], [24, "grasped", null], [[24], "collision", [1.1]], [43, "success", null], [45, "lost_success", null], [46, "success", null], [48, "lost_success", null], [49, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [55, "success", null], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [[61], "collision", [71.79]], [62, "success", null], [[62, 63, 64, 65, 66], "collision", [163.22, 293.1, 270.12, 176.74, 83.43]], [67, "lost_success", null], [[67, 68, 70, 71, 72, 73, 74], "collision", [75.47, 57.89, 23.84, 27.82, 181.95, 105.67, 30.71]], [75, "success", null], [[75], "collision", [140.41]], [76, "lost_success", null], [[76, 77], "collision", [63.89, 50.99]], [103, "success", null], [107, "lost_success", null], [112, "success", null], [[112], "collision", [16.84]], [113, "lost_success", null], [[113, 114, 115, 116, 117, 119], "collision", [24.97, 35.29, 10.7, 8.88, 7.9, 6.68]], [120, "success", null], [[126, 138], "collision", [4.54, 5.5]], [150, "lost_success", null], [151, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 284, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 31, + "init_config_idx": 18, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [[17], "collision", [5.11]], [18, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37], "collision", [5.14, 3.68, 3.39, 2.88, 1.46, 0.93, 0.63, 0.95, 0.98, 0.92, 0.8, 1.2, 0.93, 1.0, 1.17, 0.86, 0.93, 0.97, 1.03, 0.94]], [38, "success", null], [[38, 39, 40, 41], "collision", [1.08, 1.12, 1.03, 1.29]], [42, "lost_success", null], [[42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72], "collision", [1.1, 1.34, 1.18, 1.46, 1.38, 1.37, 1.39, 1.92, 1.75, 1.66, 2.1, 1.79, 1.72, 1.67, 2.12, 1.86, 1.6, 1.61, 1.81, 1.57, 1.82, 1.53, 1.67, 1.47, 1.51, 1.86, 1.52, 1.83, 1.62, 1.55, 1.4]], [73, "success", null], [[73, 74, 75], "collision", [1.29, 1.23, 1.24]], [76, "lost_success", null], [[76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [1.39, 1.61, 1.79, 1.89, 1.77, 1.97, 2.01, 2.23, 2.07, 2.22, 2.23, 2.34, 1.84, 2.07, 1.68, 2.16, 2.02, 2.08]], [94, "success", null], [[94, 95, 96, 97, 98, 99, 100, 101, 102], "collision", [2.11, 2.04, 2.08, 1.78, 2.09, 2.18, 2.11, 1.99, 2.27]], [103, "lost_success", null], [[103], "collision", [1.85]], [104, "success", null], [[104], "collision", [2.29]], [105, "lost_success", null], [[105], "collision", [2.32]], [106, "success", null], [[106], "collision", [1.97]], [107, "lost_success", null], [[107, 108, 109], "collision", [1.98, 1.88, 2.37]], [110, "success", null], [[110, 111, 112, 113, 114], "collision", [24.77, 21.42, 30.86, 2.19, 2.11]], [115, "lost_success", null], [[115], "collision", [2.1]], [116, "success", null], [[116, 117, 118], "collision", [1.92, 1.88, 2.03]], [119, "lost_success", null], [[119, 120], "collision", [2.34, 2.25]], [121, "success", null], [[121], "collision", [1.92]], [122, "lost_success", null], [[122, 123, 124, 125, 126, 127, 128, 129], "collision", [0.6, 1.64, 2.0, 2.02, 2.12, 2.28, 1.46, 2.43]], [130, "success", null], [[130, 131, 132], "collision", [19.48, 2.42, 2.53]], [133, "lost_success", null], [[133, 134, 135, 136, 137, 138, 139], "collision", [2.46, 2.35, 2.24, 2.54, 2.63, 3.24, 3.26]], [140, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151], "collision", [2.66, 2.75, 2.65, 3.0, 3.11, 3.07, 3.08, 2.89, 2.87, 3.3, 3.36, 3.45]], [152, "lost_success", null], [[152, 153, 154, 155, 156, 157], "collision", [0.73, 1.08, 1.15, 1.04, 0.95, 1.34]], [158, "success", null], [[158, 159, 160, 161, 162], "collision", [1.39, 1.17, 48.07, 1.14, 103.26]], [163, "lost_success", null], [[163, 164, 165], "collision", [58.33, 109.35, 77.03]], [166, "success", null], [[166], "collision", [0.82]], [167, "lost_success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [85.82, 1.23, 1.1, 1.52, 1.5, 1.55, 1.53, 1.56, 1.56, 0.97, 1.41, 0.8, 1.09, 0.9, 1.0, 1.09, 1.02, 1.15, 0.92, 0.99, 1.15, 1.15, 1.06, 1.08, 1.04, 1.16, 1.19, 0.97, 1.09, 1.33, 1.18, 1.18, 1.13]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 285, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 1, + "init_config_idx": 24, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18, 19], "collision", [453.35, 223.31, 145.63, 152.44]], [22, "contact", null], [25, "lost_contact", null], [27, "contact", null], [28, "lost_contact", null], [[29], "collision", [632.25]], [31, "contact", null], [[31], "collision", [93.16]], [32, "grasped", null], [[32, 33], "collision", [70.64, 55.1]], [54, "success", null], [56, "lost_success", null], [58, "success", null], [66, "lost_success", null], [71, "success", null], [72, "lost_success", null], [74, "success", null], [88, "lost_success", null], [96, "success", null], [108, "lost_success", null], [109, "success", null], [112, "lost_success", null], [114, "success", null], [141, "lost_success", null], [149, "success", null], [156, "lost_success", null], [157, "success", null], [159, "lost_success", null], [166, "success", null], [176, "lost_success", null], [181, "success", null], [182, "lost_success", null], [187, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 286, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 16, + "init_config_idx": 1, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [100.13, 163.44]], [13, "contact", null], [14, "grasped", null], [[17], "collision", [806.63]], [28, "success", null], [32, "lost_success", null], [35, "success", null], [42, "lost_success", null], [[42, 43], "collision", [38.18, 63.77]], [44, "success", null], [[44, 45], "collision", [60.6, 48.22]], [46, "lost_success", null], [[46], "collision", [31.29]], [47, "success", null], [[47, 48], "collision", [36.43, 54.69]], [53, "lost_success", null], [57, "success", null], [65, "lost_success", null], [67, "success", null], [68, "lost_success", null], [72, "success", null], [75, "lost_success", null], [78, "success", null], [81, "lost_success", null], [82, "success", null], [93, "lost_success", null], [99, "success", null], [134, "lost_success", null], [140, "success", null], [144, "lost_success", null], [185, "success", null], [186, "lost_success", null], [187, "success", null], [191, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 287, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 17, + "init_config_idx": 40, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [231.9, 173.29, 87.31]], [13, "contact", null], [13, "grasped", null], [31, "success", null], [32, "lost_success", null], [36, "success", null], [55, "lost_success", null], [56, "success", null], [91, "lost_success", null], [95, "success", null], [146, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 288, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 48, + "init_config_idx": 31, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [11, "grasped", null], [47, "success", null], [55, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 289, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 0, + "init_config_idx": 42, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 19, 20, 21], "collision", [1789.8, 557.95, 420.16, 151.58, 187.16]], [24, "contact", null], [25, "lost_contact", null], [[25], "collision", [0.16]], [26, "contact", null], [26, "grasped", null], [[28], "collision", [31.86]], [47, "success", null], [49, "lost_success", null], [72, "success", null], [73, "lost_success", null], [75, "success", null], [89, "lost_success", null], [92, "success", null], [124, "lost_success", null], [127, "success", null], [129, "lost_success", null], [142, "success", null], [168, "lost_success", null], [169, "success", null], [177, "lost_success", null], [178, "success", null], [192, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 290, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 44, + "init_config_idx": 37, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [18, "lost_contact", null], [19, "contact", null], [22, "lost_contact", null], [24, "contact", null], [28, "lost_contact", null], [[28], "collision", [0.82]], [29, "contact", null], [30, "grasped", null], [45, "success", null], [48, "lost_success", null], [53, "success", null], [63, "lost_success", null], [64, "success", null], [75, "lost_success", null], [76, "success", null], [77, "lost_success", null], [78, "success", null], [91, "lost_success", null], [100, "success", null], [102, "lost_success", null], [105, "success", null], [106, "lost_success", null], [107, "success", null], [108, "lost_success", null], [109, "success", null], [110, "lost_success", null], [112, "success", null], [117, "lost_success", null], [122, "success", null], [128, "lost_success", null], [129, "success", null], [130, "lost_success", null], [132, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [136, "success", null], [138, "lost_success", null], [141, "success", null], [147, "lost_success", null], [150, "success", null], [151, "lost_success", null], [155, "success", null], [160, "lost_success", null], [161, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [177, "success", null], [178, "lost_success", null], [179, "success", null], [181, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 291, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 11, + "init_config_idx": 8, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 11], "collision", [765.44, 305.99, 267.86, 138.82, 79.52]], [15, "contact", null], [16, "grasped", null], [[21, 22, 23], "collision", [584.77, 689.06, 479.48]], [35, "success", null], [39, "lost_success", null], [43, "success", null], [50, "lost_success", null], [53, "success", null], [60, "lost_success", null], [64, "success", null], [75, "lost_success", null], [77, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [88, "success", null], [90, "lost_success", null], [91, "success", null], [101, "lost_success", null], [102, "success", null], [110, "lost_success", null], [112, "success", null], [113, "lost_success", null], [115, "success", null], [116, "lost_success", null], [122, "success", null], [123, "lost_success", null], [124, "success", null], [130, "lost_success", null], [131, "success", null], [132, "lost_success", null], [133, "success", null], [142, "lost_success", null], [144, "success", null], [145, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 292, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 13, + "init_config_idx": 1, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [304.49]], [21, "contact", null], [21, "grasped", null], [[27], "collision", [147.54]], [39, "success", null], [42, "lost_success", null], [[45, 46, 47, 48, 49, 50], "collision", [0.44, 0.07, 0.04, 0.05, 0.07, 0.05]], [51, "success", null], [[51, 52], "collision", [0.03, 0.05]], [53, "lost_success", null], [54, "success", null], [[56, 57, 58, 59], "collision", [0.04, 0.06, 0.05, 0.06]], [67, "lost_success", null], [82, "success", null], [91, "lost_success", null], [92, "success", null], [133, "lost_success", null], [134, "success", null], [158, "lost_success", null], [161, "success", null], [183, "lost_success", null], [184, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 293, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 13, + "init_config_idx": 26, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [[33, 34, 35, 36, 37, 38, 39, 40, 41], "collision", [79.36, 83.92, 80.13, 75.41, 77.78, 107.48, 120.79, 105.36, 85.96]], [48, "success", null], [76, "lost_success", null], [78, "success", null], [92, "lost_success", null], [93, "success", null], [96, "lost_success", null], [97, "success", null], [101, "lost_success", null], [102, "success", null], [108, "lost_success", null], [114, "success", null], [126, "lost_success", null], [171, "success", null], [172, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 294, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 2, + "init_config_idx": 11, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [38.0]], [17, "contact", null], [18, "grasped", null], [35, "success", null], [45, "lost_success", null], [48, "success", null], [49, "lost_success", null], [60, "success", null], [[63], "collision", [50.54]], [64, "lost_success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [81.64, 76.32, 92.18, 71.21, 60.55, 49.37, 47.52, 49.12, 46.01, 31.55, 36.99, 29.16, 44.47]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [46.92, 40.97, 40.9, 23.99, 25.3, 30.16, 29.26, 41.45, 38.84, 35.71, 34.29, 41.03, 38.61, 82.0, 52.68, 38.68, 36.04, 27.01, 38.98, 45.97, 46.06, 45.18, 40.17, 17.21, 25.0, 18.33, 17.91, 23.18, 30.41, 39.62, 10.54, 31.2, 45.12, 36.1]], [111, "lost_success", null], [[111, 112, 113], "collision", [46.04, 51.56, 61.01]], [114, "success", null], [[114, 115], "collision", [49.69, 41.23]], [116, "lost_success", null], [[118, 119, 121, 123], "collision", [39.05, 35.76, 37.7, 60.71]], [124, "success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133], "collision", [40.18, 41.8, 36.71, 30.76, 33.33, 33.94, 35.76, 29.18, 33.17, 27.68]], [134, "lost_success", null], [[134, 135, 136, 137], "collision", [27.97, 22.37, 19.6, 28.96]], [138, "success", null], [[138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 151, 152, 153, 154, 155, 156, 157, 158, 159, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 175, 177, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [35.83, 14.57, 9.38, 16.97, 19.52, 9.39, 3.27, 8.41, 7.47, 4.59, 8.6, 12.37, 10.43, 4.82, 10.62, 8.57, 4.53, 8.25, 8.83, 10.86, 8.7, 8.58, 4.22, 7.48, 10.9, 7.81, 7.87, 7.54, 9.99, 10.45, 7.6, 6.29, 8.37, 5.25, 8.35, 9.66, 14.69, 7.28, 15.4, 14.43, 21.42, 16.2, 18.3, 19.15, 15.69, 11.02, 17.67, 15.49, 9.48, 28.1, 23.08, 20.66, 22.28, 23.1, 26.3, 31.6]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 295, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 9, + "init_config_idx": 33, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [[32, 33], "collision", [0.02, 0.03]], [35, "lost_contact", null], [72, "contact", null], [72, "grasped", null], [118, "success", null], [119, "lost_success", null], [122, "success", null], [125, "lost_success", null], [148, "success", null], [149, "lost_success", null], [153, "success", null], [155, "lost_success", null], [186, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 296, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 31, + "init_config_idx": 32, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [[19], "collision", [8.87]], [21, "grasped", null], [66, "success", null], [67, "lost_success", null], [69, "success", null], [70, "lost_success", null], [76, "success", null], [77, "lost_success", null], [81, "success", null], [82, "lost_success", null], [[82, 83, 84], "collision", [46.45, 140.97, 92.38]], [85, "success", null], [[85], "collision", [27.23]], [86, "lost_success", null], [[86], "collision", [93.46]], [89, "success", null], [91, "lost_success", null], [97, "success", null], [101, "lost_success", null], [102, "success", null], [[102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [157.05, 48.52, 77.92, 49.13, 91.36, 189.98, 146.58, 74.71, 86.28]], [111, "lost_success", null], [[111, 112, 113, 114, 115, 116, 119], "collision", [84.96, 65.75, 67.07, 48.44, 18.98, 15.83, 151.0]], [120, "success", null], [[120, 123], "collision", [59.36, 25.81]], [134, "lost_success", null], [136, "success", null], [144, "lost_success", null], [151, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [163, "success", null], [164, "lost_success", null], [183, "success", null], [[183, 184, 185, 186, 187, 188, 189, 190], "collision", [152.17, 211.03, 339.15, 261.77, 305.38, 285.77, 292.63, 217.89]], [191, "lost_success", null], [[191], "collision", [137.67]], [192, "success", null], [193, "lost_success", null], [199, "success", null], [[199], "collision", [96.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 297, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 26, + "init_config_idx": 1, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [15, "grasped", null], [[24, 25, 26], "collision", [97.29, 97.7, 84.13]], [35, "success", null], [43, "lost_success", null], [47, "success", null], [95, "lost_success", null], [103, "success", null], [121, "lost_success", null], [122, "success", null], [123, "lost_success", null], [131, "success", null], [139, "lost_success", null], [140, "success", null], [189, "lost_success", null], [194, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 298, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 16, + "init_config_idx": 35, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [229.27]], [16, "contact", null], [17, "grasped", null], [[17, 18, 20], "collision", [2851.76, 0.11, 0.02]], [32, "success", null], [37, "lost_success", null], [38, "success", null], [40, "lost_success", null], [[40, 41], "collision", [98.8, 51.04]], [42, "success", null], [[42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64], "collision", [58.2, 65.23, 57.89, 58.63, 50.39, 44.99, 45.7, 34.6, 39.35, 44.31, 43.35, 49.85, 55.78, 49.58, 54.27, 48.95, 55.72, 70.04, 56.11, 57.01, 52.77, 36.11, 16.05]], [66, "lost_success", null], [[67, 68], "collision", [18.12, 155.06]], [71, "success", null], [80, "lost_success", null], [82, "success", null], [83, "lost_success", null], [85, "success", null], [86, "lost_success", null], [90, "success", null], [112, "lost_success", null], [120, "success", null], [121, "lost_success", null], [131, "success", null], [152, "lost_success", null], [153, "success", null], [156, "lost_success", null], [158, "success", null], [167, "lost_success", null], [170, "success", null], [189, "lost_success", null], [190, "success", null], [197, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 299, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 14, + "init_config_idx": 21, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [16, "grasped", null], [31, "success", null], [33, "lost_success", null], [34, "success", null], [75, "lost_success", null], [82, "success", null], [84, "lost_success", null], [85, "success", null], [91, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 300, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 8, + "init_config_idx": 1, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 13, 14], "collision", [1252.85, 781.55, 608.38]], [15, "contact", null], [[15], "collision", [503.35]], [16, "grasped", null], [35, "success", null], [41, "lost_success", null], [42, "success", null], [45, "lost_success", null], [46, "success", null], [[47, 48], "collision", [33.01, 20.49]], [52, "lost_success", null], [64, "success", null], [67, "lost_success", null], [75, "success", null], [80, "lost_success", null], [[80], "collision", [19.67]], [84, "success", null], [162, "lost_success", null], [166, "success", null], [171, "lost_success", null], [173, "success", null], [178, "lost_success", null], [181, "success", null], [184, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 301, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 46, + "init_config_idx": 33, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "collision", [135.71, 870.23, 318.43, 301.28, 306.35, 183.62, 200.45, 212.62, 213.14, 435.95]], [32, "contact", null], [[32], "collision", [138.86]], [33, "lost_contact", null], [[33, 35, 36], "collision", [190.12, 267.68, 150.41]], [37, "contact", null], [[37], "collision", [82.36]], [39, "lost_contact", null], [42, "contact", null], [43, "grasped", null], [[43], "collision", [26.29]], [79, "success", null], [80, "lost_success", null], [87, "success", null], [88, "lost_success", null], [89, "success", null], [92, "lost_success", null], [137, "success", null], [145, "lost_success", null], [160, "success", null], [161, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 302, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 30, + "init_config_idx": 31, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [13, "grasped", null], [26, "success", null], [44, "lost_success", null], [52, "success", null], [70, "lost_success", null], [79, "success", null], [89, "lost_success", null], [94, "success", null], [95, "lost_success", null], [97, "success", null], [104, "lost_success", null], [108, "success", null], [115, "lost_success", null], [118, "success", null], [125, "lost_success", null], [126, "success", null], [151, "lost_success", null], [157, "success", null], [163, "lost_success", null], [165, "success", null], [174, "lost_success", null], [191, "success", null], [193, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 303, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 24, + "init_config_idx": 24, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [[35, 36], "collision", [128.79, 120.49]], [48, "success", null], [56, "lost_success", null], [66, "success", null], [114, "lost_success", null], [[142, 143], "collision", [11.8, 7.21]], [144, "success", null], [[144], "collision", [8.13]], [145, "lost_success", null], [[145], "collision", [7.34]], [147, "success", null], [[158], "collision", [14.95]], [159, "lost_success", null], [160, "success", null], [[160, 161], "collision", [0.95, 12.2]], [162, "lost_success", null], [[162], "collision", [12.34]], [163, "success", null], [[163, 164, 165, 166], "collision", [10.21, 16.81, 16.75, 13.33]], [167, "lost_success", null], [[167, 168], "collision", [15.64, 15.24]], [170, "success", null], [[170, 171, 172], "collision", [9.59, 9.52, 4.13]], [174, "lost_success", null], [175, "success", null], [178, "lost_success", null], [[178, 179, 180, 181], "collision", [19.06, 12.25, 11.14, 9.69]], [183, "success", null], [186, "lost_success", null], [189, "success", null], [194, "lost_success", null], [196, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 304, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 27, + "init_config_idx": 14, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [24, "success", null], [28, "lost_success", null], [41, "success", null], [43, "lost_success", null], [45, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [65, "success", null], [69, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 305, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 10, + "init_config_idx": 27, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [1929.57]], [17, "contact", null], [17, "grasped", null], [48, "success", null], [52, "lost_success", null], [55, "success", null], [56, "lost_success", null], [58, "success", null], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [82, "success", null], [83, "lost_success", null], [90, "success", null], [91, "lost_success", null], [92, "success", null], [94, "lost_success", null], [95, "success", null], [96, "lost_success", null], [97, "success", null], [98, "lost_success", null], [99, "success", null], [102, "lost_success", null], [109, "success", null], [110, "lost_success", null], [114, "success", null], [117, "lost_success", null], [122, "success", null], [130, "lost_success", null], [133, "success", null], [134, "lost_success", null], [135, "success", null], [137, "lost_success", null], [140, "success", null], [142, "lost_success", null], [143, "success", null], [145, "lost_success", null], [146, "success", null], [150, "lost_success", null], [151, "success", null], [153, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [167, "success", null], [168, "lost_success", null], [169, "success", null], [171, "lost_success", null], [173, "success", null], [174, "lost_success", null], [175, "success", null], [177, "lost_success", null], [179, "success", null], [180, "lost_success", null], [182, "success", null], [183, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 306, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 5, + "init_config_idx": 12, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[36, 37, 38, 39, 40, 41, 42, 43, 44], "collision", [75.67, 92.17, 87.88, 79.0, 86.38, 108.44, 118.11, 113.83, 34.18]], [50, "success", null], [69, "lost_success", null], [72, "success", null], [96, "lost_success", null], [111, "success", null], [112, "lost_success", null], [117, "success", null], [128, "lost_success", null], [129, "success", null], [135, "lost_success", null], [138, "success", null], [154, "lost_success", null], [193, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 307, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 9, + "init_config_idx": 46, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [16, "grasped", null], [30, "success", null], [40, "lost_success", null], [59, "success", null], [62, "lost_success", null], [70, "success", null], [71, "lost_success", null], [73, "success", null], [75, "lost_success", null], [78, "success", null], [87, "lost_success", null], [88, "success", null], [89, "lost_success", null], [[102, 106, 107, 108, 109, 110, 112, 113, 114, 115, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 130], "collision", [83.11, 77.38, 112.92, 38.24, 33.33, 66.69, 10.0, 44.58, 89.63, 67.27, 21.03, 65.36, 78.41, 106.44, 46.83, 50.97, 54.27, 60.82, 21.37, 20.98, 18.29, 63.68, 8.95]], [131, "success", null], [[132, 135, 136], "collision", [70.91, 16.95, 70.18]], [138, "lost_success", null], [[139, 140, 141, 147, 150, 154, 155], "collision", [214.27, 150.03, 237.93, 40.37, 806.14, 77.94, 85.11]], [158, "success", null], [166, "lost_success", null], [179, "success", null], [180, "lost_success", null], [181, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 308, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 23, + "init_config_idx": 21, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [26, "lost_contact", null], [27, "contact", null], [27, "grasped", null], [48, "success", null], [50, "lost_success", null], [56, "success", null], [58, "lost_success", null], [59, "success", null], [[61, 62], "collision", [65.69, 62.63]], [63, "lost_success", null], [[63], "collision", [25.73]], [64, "success", null], [[64, 65, 66], "collision", [27.57, 34.9, 38.68]], [67, "lost_success", null], [[67], "collision", [15.93]], [68, "success", null], [[68, 69, 70, 71, 72, 73], "collision", [30.76, 32.96, 31.95, 26.79, 29.01, 34.71]], [74, "lost_success", null], [76, "success", null], [[77, 83, 84, 85, 86, 87, 101], "collision", [20.4, 14.61, 12.2, 16.27, 113.97, 37.49, 20.88]], [102, "lost_success", null], [105, "success", null], [108, "lost_success", null], [109, "success", null], [112, "lost_success", null], [118, "success", null], [125, "lost_success", null], [126, "success", null], [128, "lost_success", null], [132, "success", null], [148, "lost_success", null], [149, "success", null], [171, "lost_success", null], [177, "success", null], [189, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 309, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 0, + "init_config_idx": 17, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "lost_contact", null], [21, "contact", null], [22, "lost_contact", null], [23, "contact", null], [24, "lost_contact", null], [25, "contact", null], [[25], "collision", [45.84]], [26, "grasped", null], [41, "success", null], [44, "lost_success", null], [54, "success", null], [64, "lost_success", null], [66, "success", null], [69, "lost_success", null], [80, "success", null], [116, "lost_success", null], [118, "success", null], [169, "lost_success", null], [170, "success", null], [[179, 181, 182, 183, 184, 185], "collision", [26.81, 34.25, 14.96, 122.28, 103.64, 75.58]], [190, "lost_success", null], [191, "success", null], [[195, 196, 197, 198, 199], "collision", [99.63, 146.52, 155.74, 104.44, 95.48]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 310, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 0, + "init_config_idx": 19, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 16, 17, 18], "collision", [1716.69, 110.48, 457.83, 213.68, 277.45]], [24, "contact", null], [25, "grasped", null], [[27, 28, 30, 32, 33], "collision", [79.7, 43.1, 9.11, 87.51, 101.29]], [47, "success", null], [48, "lost_success", null], [50, "success", null], [62, "lost_success", null], [64, "success", null], [69, "lost_success", null], [73, "success", null], [82, "lost_success", null], [85, "success", null], [94, "lost_success", null], [95, "success", null], [97, "lost_success", null], [102, "success", null], [112, "lost_success", null], [114, "success", null], [115, "lost_success", null], [116, "success", null], [144, "lost_success", null], [145, "success", null], [151, "lost_success", null], [171, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 311, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 31, + "init_config_idx": 4, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [16, "grasped", null], [30, "success", null], [31, "lost_success", null], [32, "success", null], [45, "lost_success", null], [52, "success", null], [55, "lost_success", null], [58, "success", null], [61, "lost_success", null], [72, "success", null], [75, "lost_success", null], [85, "success", null], [96, "lost_success", null], [136, "success", null], [138, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 312, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 30, + "init_config_idx": 22, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [26, "success", null], [31, "lost_success", null], [37, "success", null], [41, "lost_success", null], [[41], "collision", [379.33]], [42, "success", null], [[42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [118.28, 107.21, 84.57, 68.08, 87.82, 77.84, 75.67, 87.1, 123.08, 118.57, 100.5, 75.27, 31.98]], [55, "lost_success", null], [[55], "collision", [41.19]], [56, "success", null], [[56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 105, 106, 107, 108, 109, 110, 111], "collision", [100.59, 122.1, 108.02, 63.46, 19.49, 104.39, 91.35, 156.48, 176.59, 93.16, 18.15, 20.68, 112.34, 77.75, 50.32, 29.65, 21.96, 10.93, 28.01]], [134, "lost_success", null], [[139, 140, 143], "collision", [38.02, 50.82, 45.79]], [168, "success", null], [170, "lost_success", null], [171, "success", null], [[176], "collision", [30.39]], [181, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 313, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 31, + "init_config_idx": 19, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [12, "grasped", null], [[21, 22, 23, 24, 25, 28, 30], "collision", [507.29, 136.25, 118.67, 126.58, 123.43, 107.6, 99.08]], [32, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [[50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 71, 72, 73, 74, 75, 76, 77, 78, 79, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [51.29, 56.66, 64.26, 130.88, 274.88, 121.72, 103.14, 81.7, 101.57, 89.71, 118.09, 53.62, 70.3, 60.68, 65.83, 78.15, 72.43, 44.0, 59.66, 43.36, 42.41, 56.83, 57.96, 51.72, 52.52, 53.46, 57.04, 0.2, 68.63, 13.92, 29.68, 61.99, 29.61, 25.3, 44.26, 48.85, 49.32, 42.24, 28.28, 24.55, 22.79]], [183, "lost_success", null], [195, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 314, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 43, + "init_config_idx": 12, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 15, 16, 17], "collision", [626.68, 137.62, 131.21, 198.92, 49.4, 191.54, 112.62]], [18, "contact", null], [[18], "collision", [161.97]], [19, "lost_contact", null], [[19], "collision", [109.84]], [20, "contact", null], [21, "lost_contact", null], [[21], "collision", [136.42]], [22, "contact", null], [22, "grasped", null], [46, "success", null], [53, "lost_success", null], [54, "success", null], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [63, "success", null], [89, "lost_success", null], [102, "success", null], [138, "lost_success", null], [145, "success", null], [147, "lost_success", null], [148, "success", null], [149, "lost_success", null], [150, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 315, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 31, + "init_config_idx": 7, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[30, 31], "collision", [75.77, 122.75]], [41, "success", null], [48, "lost_success", null], [50, "success", null], [77, "lost_success", null], [78, "success", null], [[104, 106], "collision", [15.92, 5.76]], [107, "lost_success", null], [[107, 109, 110, 111, 112, 113], "collision", [6.37, 7.7, 7.57, 23.03, 4.95, 6.62]], [116, "success", null], [[118, 119, 120, 121, 122, 123], "collision", [6.26, 9.79, 13.44, 13.89, 8.95, 11.23]], [124, "lost_success", null], [[124], "collision", [12.78]], [125, "success", null], [[125, 126, 127], "collision", [10.13, 9.02, 9.45]], [128, "lost_success", null], [[128, 129], "collision", [11.05, 11.13]], [130, "success", null], [[130], "collision", [7.68]], [133, "lost_success", null], [134, "success", null], [150, "lost_success", null], [152, "success", null], [159, "lost_success", null], [162, "success", null], [169, "lost_success", null], [170, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [174, "success", null], [175, "lost_success", null], [176, "success", null], [177, "lost_success", null], [180, "success", null], [185, "lost_success", null], [186, "success", null], [192, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 316, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 43, + "init_config_idx": 30, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [[24], "collision", [0.18]], [25, "grasped", null], [[25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74], "collision", [7.38, 5.35, 3.79, 3.44, 4.3, 3.86, 3.25, 3.88, 4.27, 2.97, 3.81, 3.99, 3.2, 3.12, 3.65, 3.35, 3.75, 2.7, 2.29, 2.42, 2.81, 3.33, 2.69, 2.82, 3.88, 3.22, 3.07, 3.37, 3.23, 2.51, 3.1, 2.17, 3.38, 2.17, 3.36, 3.45, 3.43, 2.75, 2.96, 2.73, 4.05, 3.66, 2.24, 3.44, 4.15, 3.45, 2.18, 4.11, 2.76, 2.48]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [3.11, 3.99, 2.28, 2.81, 2.4, 3.5, 3.83, 2.45, 4.3, 4.33, 2.89, 4.41, 2.96]], [88, "lost_success", null], [[88, 89, 90], "collision", [4.01, 3.86, 2.64]], [91, "success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112], "collision", [3.61, 2.67, 3.02, 3.28, 2.34, 2.2, 3.91, 3.9, 2.68, 3.45, 2.92, 3.57, 3.36, 3.94, 2.18, 3.36, 2.35, 2.3, 3.28, 2.01, 3.53, 2.68]], [113, "lost_success", null], [[113], "collision", [3.35]], [114, "success", null], [[114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [2.18, 2.84, 2.43, 3.05, 1.97, 2.98, 2.99, 2.11, 2.03, 3.2, 2.61, 2.35, 2.47, 2.32, 2.75, 2.85, 2.82, 2.61, 2.11, 2.58, 2.54]], [135, "lost_success", null], [[135], "collision", [2.59]], [136, "success", null], [[136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147], "collision", [2.7, 2.57, 2.76, 2.75, 2.85, 2.1, 2.78, 2.06, 2.14, 2.47, 1.8, 2.83]], [148, "lost_success", null], [[148], "collision", [2.73]], [149, "success", null], [[149], "collision", [1.82]], [150, "lost_success", null], [[150], "collision", [2.31]], [151, "success", null], [[151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167], "collision", [2.81, 2.89, 2.77, 2.42, 2.16, 2.33, 1.83, 2.56, 1.75, 2.23, 1.98, 2.11, 2.31, 2.42, 1.83, 2.01, 1.73]], [168, "lost_success", null], [[168, 169], "collision", [1.79, 2.23]], [170, "success", null], [[170, 171, 172], "collision", [2.11, 1.59, 2.0]], [173, "lost_success", null], [[173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [2.3, 1.94, 2.12, 2.22, 2.03, 2.17, 1.9, 2.05, 2.05, 2.3, 2.2, 2.35, 2.51, 2.86, 2.84, 3.1, 3.07, 1.97, 2.57, 3.05, 3.37, 2.45, 3.53, 2.21, 2.31, 3.66, 2.62]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 317, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 26, + "init_config_idx": 21, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [376.9, 259.39, 219.63, 117.17, 101.34]], [11, "contact", null], [13, "grasped", null], [26, "success", null], [29, "lost_success", null], [57, "success", null], [73, "lost_success", null], [75, "success", null], [109, "lost_success", null], [120, "success", null], [141, "lost_success", null], [153, "success", null], [186, "lost_success", null], [187, "success", null], [188, "lost_success", null], [189, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 318, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 24, + "init_config_idx": 26, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "lost_contact", null], [20, "contact", null], [22, "grasped", null], [44, "success", null], [51, "lost_success", null], [52, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [[59, 60], "collision", [120.39, 45.94]], [61, "success", null], [[61], "collision", [55.29]], [62, "lost_success", null], [63, "success", null], [[63, 64, 65, 66, 67], "collision", [35.09, 41.95, 42.48, 45.1, 54.85]], [68, "lost_success", null], [[68, 69, 70, 71, 72, 73, 74], "collision", [48.01, 43.81, 36.98, 32.02, 8.23, 40.95, 43.53]], [75, "success", null], [[75, 76, 77], "collision", [24.43, 33.17, 46.76]], [78, "lost_success", null], [86, "success", null], [96, "lost_success", null], [97, "success", null], [98, "lost_success", null], [99, "success", null], [103, "lost_success", null], [108, "success", null], [111, "lost_success", null], [113, "success", null], [121, "lost_success", null], [125, "success", null], [138, "lost_success", null], [141, "success", null], [150, "lost_success", null], [151, "success", null], [153, "lost_success", null], [156, "success", null], [171, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 319, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 8, + "init_config_idx": 25, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [[23], "collision", [420.46]], [24, "lost_contact", null], [25, "contact", null], [25, "grasped", null], [[46, 47, 48], "collision", [1778.5, 82.01, 31.5]], [50, "success", null], [[51, 52, 53, 54, 55], "collision", [155.43, 108.16, 156.33, 170.93, 387.14]], [56, "lost_success", null], [57, "success", null], [58, "lost_success", null], [[58, 59, 61], "collision", [54.11, 23.07, 12.19]], [62, "success", null], [[68, 69], "collision", [22.72, 1.45]], [73, "lost_success", null], [118, "success", null], [119, "lost_success", null], [120, "success", null], [154, "lost_success", null], [167, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 320, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 4, + "init_config_idx": 35, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [13, "grasped", null], [[23, 24], "collision", [86.96, 105.53]], [28, "success", null], [34, "lost_success", null], [46, "success", null], [48, "lost_success", null], [[72, 73, 74, 75, 78, 79, 81, 82, 83], "collision", [111.03, 54.5, 45.85, 57.28, 41.4, 34.7, 54.95, 56.04, 30.71]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 321, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 8, + "init_config_idx": 24, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15], "collision", [15.18, 144.81, 167.28, 316.15]], [17, "contact", null], [18, "lost_contact", null], [[20], "collision", [3.32]], [23, "contact", null], [[23], "collision", [139.85]], [24, "grasped", null], [[39], "collision", [38.57]], [42, "success", null], [45, "lost_success", null], [50, "success", null], [57, "lost_success", null], [68, "success", null], [69, "lost_success", null], [73, "success", null], [101, "lost_success", null], [102, "success", null], [156, "lost_success", null], [160, "success", null], [169, "lost_success", null], [[180, 181, 182], "collision", [1.97, 1.42, 1.34]], [183, "success", null], [[183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [0.95, 1.0, 1.35, 1.58, 1.6, 1.41, 1.15, 2.34, 2.1, 2.08, 0.1]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 322, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 14, + "init_config_idx": 23, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [31, "success", null], [36, "lost_success", null], [42, "success", null], [54, "lost_success", null], [[94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 118, 119, 120], "collision", [11.63, 14.65, 11.63, 11.81, 13.17, 25.91, 10.88, 22.29, 16.97, 15.36, 22.54, 21.18, 5.98, 16.86, 19.86, 30.92, 12.77, 6.23, 6.03, 74.22, 16.53, 9.38, 12.13]], [122, "success", null], [123, "lost_success", null], [[123, 125, 126, 127], "collision", [6.63, 5.45, 4.8, 5.38]], [129, "success", null], [130, "lost_success", null], [138, "success", null], [143, "lost_success", null], [144, "success", null], [145, "lost_success", null], [147, "success", null], [149, "lost_success", null], [162, "success", null], [164, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 323, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 20, + "init_config_idx": 13, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [527.79]], [23, "contact", null], [23, "grasped", null], [42, "success", null], [43, "lost_success", null], [51, "success", null], [55, "lost_success", null], [82, "success", null], [88, "lost_success", null], [89, "success", null], [94, "lost_success", null], [124, "success", null], [134, "lost_success", null], [167, "success", null], [174, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 324, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 1, + "init_config_idx": 36, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 9, 10, 11], "collision", [1033.1, 184.47, 656.23, 305.15]], [16, "contact", null], [18, "grasped", null], [33, "success", null], [39, "lost_success", null], [45, "success", null], [65, "lost_success", null], [68, "success", null], [87, "lost_success", null], [90, "success", null], [108, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 325, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 43, + "init_config_idx": 29, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7], "collision", [406.75]], [26, "contact", null], [26, "grasped", null], [67, "success", null], [119, "lost_success", null], [123, "success", null], [124, "lost_success", null], [125, "success", null], [142, "lost_success", null], [163, "success", null], [170, "lost_success", null], [172, "success", null], [192, "lost_success", null], [193, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 326, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 40, + "init_config_idx": 22, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14], "collision", [668.1, 196.74, 193.7]], [18, "contact", null], [18, "grasped", null], [[23], "collision", [170.72]], [32, "success", null], [40, "lost_success", null], [42, "success", null], [[43], "collision", [8.19]], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [65, "success", null], [69, "lost_success", null], [[75, 76, 77], "collision", [1.04, 0.84, 0.65]], [78, "success", null], [[78, 79, 80], "collision", [0.65, 0.68, 0.49]], [85, "lost_success", null], [[86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 193, 194, 195, 197, 198, 199], "collision", [0.82, 0.9, 0.71, 0.77, 0.64, 0.65, 0.78, 0.87, 0.97, 0.86, 0.94, 0.78, 0.77, 0.75, 0.75, 0.55, 0.71, 0.76, 0.75, 0.92, 0.86, 0.92, 0.82, 0.92, 0.76, 0.85, 0.86, 1.13, 1.07, 1.09, 1.07, 1.11, 1.11, 1.95, 1.29, 1.27, 1.54, 1.94, 1.56, 1.6, 1.34, 2.27, 1.35, 1.04, 2.57, 2.25, 1.32, 2.72, 1.44, 2.49, 1.45, 2.29, 1.68, 1.86, 0.78, 1.15, 0.7, 2.31, 1.7, 1.17, 1.13, 1.93, 2.1, 1.92, 2.01, 2.0, 1.21, 2.01, 0.87, 0.88, 0.73, 0.83, 0.82, 0.72, 0.82, 0.71, 0.75, 1.16, 0.67, 0.75, 0.61, 0.64, 0.69, 0.69, 0.66, 0.76, 0.65, 0.66, 0.71, 0.67, 0.65, 0.6, 0.62, 0.77, 0.67, 0.64, 0.58, 0.53, 0.88, 0.65, 13.16, 20.98, 50.69, 39.32, 20.84, 1.7, 0.43, 3.86, 1.23, 1.42, 3.85, 1.39]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 327, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 24, + "init_config_idx": 5, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [50, "success", null], [56, "lost_success", null], [144, "success", null], [159, "lost_success", null], [185, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 328, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 2, + "init_config_idx": 36, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 14, 15, 25], "collision", [343.43, 659.45, 443.71, 323.64, 129.28, 169.52, 147.13, 64.04]], [56, "contact", null], [59, "lost_contact", null], [83, "contact", null], [84, "grasped", null], [[108, 109], "collision", [127.78, 57.36]], [135, "success", null], [136, "lost_success", null], [140, "success", null], [145, "lost_success", null], [148, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 329, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 28, + "init_config_idx": 2, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 13], "collision", [434.82, 234.37, 0.2]], [15, "contact", null], [15, "grasped", null], [[16, 21], "collision", [3135.79, 125.13]], [35, "success", null], [[43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [0.06, 0.05, 0.39, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09]], [52, "lost_success", null], [[52], "collision", [0.1]], [53, "success", null], [[53], "collision", [0.09]], [54, "lost_success", null], [[54], "collision", [0.11]], [55, "success", null], [[55], "collision", [0.08]], [56, "lost_success", null], [[56, 57], "collision", [0.1, 0.09]], [58, "success", null], [[58], "collision", [0.1]], [59, "lost_success", null], [[59], "collision", [0.09]], [60, "success", null], [[60], "collision", [0.1]], [61, "lost_success", null], [[61, 62, 63], "collision", [0.08, 0.1, 0.09]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71], "collision", [0.1, 0.09, 0.1, 0.08, 0.1, 0.08, 0.1, 0.09]], [72, "lost_success", null], [[72, 73, 74, 75, 76, 77, 78], "collision", [0.1, 0.1, 0.1, 0.1, 0.09, 0.09, 0.09]], [79, "success", null], [[79, 80, 81, 82, 83], "collision", [0.09, 0.09, 0.09, 0.1, 0.09]], [84, "lost_success", null], [[84, 85], "collision", [0.09, 0.09]], [86, "success", null], [[86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97], "collision", [0.09, 0.09, 0.1, 0.09, 0.1, 0.09, 0.09, 0.09, 0.1, 0.09, 0.09, 0.09]], [98, "lost_success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106], "collision", [0.09, 0.09, 0.09, 0.1, 0.1, 0.09, 0.09, 0.09, 0.09]], [107, "success", null], [[107, 108, 109, 110, 111, 112, 113, 114], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [115, "lost_success", null], [[115, 116, 117], "collision", [0.09, 0.09, 0.09]], [118, "success", null], [[118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147], "collision", [0.09, 0.09, 0.1, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.08, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1]], [148, "lost_success", null], [[148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173], "collision", [0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1]], [174, "success", null], [[174, 175], "collision", [0.09, 0.1]], [176, "lost_success", null], [[176], "collision", [0.09]], [177, "success", null], [[177], "collision", [0.1]], [178, "lost_success", null], [[178, 179], "collision", [0.09, 0.1]], [180, "success", null], [[180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09, 0.1, 0.09]], [199, "lost_success", null], [[199], "collision", [0.1]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 330, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 23, + "init_config_idx": 22, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [339.52, 197.37]], [15, "contact", null], [15, "grasped", null], [[19], "collision", [566.26]], [46, "success", null], [62, "lost_success", null], [71, "success", null], [106, "lost_success", null], [110, "success", null], [111, "lost_success", null], [116, "success", null], [129, "lost_success", null], [130, "success", null], [156, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 331, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 38, + "init_config_idx": 20, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 12, 13, 14, 15], "collision", [804.08, 299.22, 279.07, 676.84, 514.1, 511.12, 507.67]], [16, "contact", null], [16, "grasped", null], [42, "success", null], [50, "lost_success", null], [53, "success", null], [68, "lost_success", null], [70, "success", null], [118, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 332, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 37, + "init_config_idx": 23, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 20], "collision", [893.62, 439.07, 297.15]], [22, "contact", null], [23, "grasped", null], [[27], "collision", [237.21]], [89, "success", null], [90, "lost_success", null], [91, "success", null], [98, "lost_success", null], [99, "success", null], [101, "lost_success", null], [107, "success", null], [120, "lost_success", null], [130, "success", null], [141, "lost_success", null], [148, "success", null], [150, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "success", null], [164, "lost_success", null], [165, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 333, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 37, + "init_config_idx": 37, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15], "collision", [421.36, 318.76, 257.26]], [21, "contact", null], [[21], "collision", [5.55]], [22, "grasped", null], [[27], "collision", [175.19]], [50, "success", null], [51, "lost_success", null], [52, "success", null], [54, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [58, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 334, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 6, + "init_config_idx": 6, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [[26, 27, 28, 29], "collision", [105.11, 102.47, 97.03, 79.82]], [35, "success", null], [83, "lost_success", null], [96, "success", null], [102, "lost_success", null], [107, "success", null], [108, "lost_success", null], [163, "success", null], [174, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 335, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 36, + "init_config_idx": 32, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8], "collision", [246.57, 58.72, 122.89]], [11, "contact", null], [11, "grasped", null], [[11, 14, 15, 16, 17], "collision", [3.22, 518.57, 306.47, 316.85, 164.28]], [28, "success", null], [78, "lost_success", null], [110, "success", null], [125, "lost_success", null], [126, "success", null], [127, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 336, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 24, + "init_config_idx": 38, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [13, "grasped", null], [[92, 93, 94], "collision", [31.98, 40.9, 26.5]], [95, "success", null], [[95, 96, 97, 98], "collision", [21.67, 25.13, 22.93, 25.19]], [99, "lost_success", null], [[99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [24.87, 27.42, 31.13, 28.48, 30.08, 25.8, 26.53, 52.5, 41.65, 23.36, 44.94, 11.35]], [111, "success", null], [[111], "collision", [65.1]], [112, "lost_success", null], [113, "success", null], [[113, 114, 115], "collision", [24.72, 25.7, 19.81]], [123, "lost_success", null], [125, "success", null], [126, "lost_success", null], [127, "success", null], [137, "lost_success", null], [140, "success", null], [141, "lost_success", null], [142, "success", null], [146, "lost_success", null], [147, "success", null], [151, "lost_success", null], [168, "success", null], [169, "lost_success", null], [174, "success", null], [187, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 337, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 11, + "init_config_idx": 8, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [25, "grasped", null], [52, "success", null], [60, "lost_success", null], [68, "success", null], [69, "lost_success", null], [74, "success", null], [75, "lost_success", null], [83, "success", null], [84, "lost_success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [14.91, 9.79, 9.74, 8.73, 10.56, 9.15, 9.71, 9.4, 6.17, 11.83, 10.48, 8.2, 10.37, 8.54, 9.81]], [100, "success", null], [[100, 101, 102], "collision", [10.7, 9.6, 10.14]], [103, "lost_success", null], [[103], "collision", [7.86]], [104, "success", null], [[104], "collision", [8.15]], [105, "lost_success", null], [[105], "collision", [6.8]], [106, "success", null], [[106], "collision", [6.96]], [112, "lost_success", null], [[112], "collision", [104.05]], [114, "success", null], [[114, 115, 116, 117, 119, 120], "collision", [43.31, 22.46, 12.73, 15.82, 14.49, 2.42]], [133, "lost_success", null], [143, "success", null], [158, "lost_success", null], [160, "success", null], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 338, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 27, + "init_config_idx": 34, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [25, "lost_contact", null], [26, "contact", null], [26, "grasped", null], [53, "success", null], [58, "lost_success", null], [95, "success", null], [105, "lost_success", null], [145, "success", null], [146, "lost_success", null], [147, "success", null], [148, "lost_success", null], [150, "success", null], [153, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null], [166, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 339, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 33, + "init_config_idx": 37, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [36, "success", null], [50, "lost_success", null], [52, "success", null], [56, "lost_success", null], [71, "success", null], [124, "lost_success", null], [127, "success", null], [128, "lost_success", null], [[139, 140, 141], "collision", [7.56, 6.58, 5.84]], [142, "success", null], [[142], "collision", [6.98]], [143, "lost_success", null], [[143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154], "collision", [6.09, 7.33, 6.4, 7.39, 6.74, 6.89, 7.26, 7.03, 6.9, 6.9, 6.07, 6.59]], [155, "success", null], [[155], "collision", [4.72]], [159, "lost_success", null], [160, "success", null], [163, "lost_success", null], [[163, 164, 165, 166, 167, 168, 169, 170, 171, 173, 174, 175, 176, 177], "collision", [31.31, 8.67, 12.08, 6.33, 15.77, 15.66, 15.29, 17.85, 14.83, 10.5, 10.21, 11.87, 5.96, 4.62]], [178, "success", null], [[178], "collision", [5.15]], [189, "lost_success", null], [190, "success", null], [193, "lost_success", null], [197, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 340, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 50, + "init_config_idx": 23, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [[33, 34], "collision", [75.4, 85.22]], [43, "success", null], [51, "lost_success", null], [62, "success", null], [71, "lost_success", null], [81, "success", null], [82, "lost_success", null], [83, "success", null], [100, "lost_success", null], [110, "success", null], [114, "lost_success", null], [117, "success", null], [138, "lost_success", null], [[173, 174, 175, 176, 177, 178, 179, 180], "collision", [5.76, 6.1, 9.47, 8.83, 8.19, 6.99, 7.14, 5.9]], [185, "success", null], [186, "lost_success", null], [187, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 341, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 5, + "init_config_idx": 18, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [[63], "collision", [368.22]], [80, "success", null], [82, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 342, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 10, + "init_config_idx": 22, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "grasped", null], [30, "success", null], [31, "lost_success", null], [32, "success", null], [33, "lost_success", null], [42, "success", null], [45, "lost_success", null], [46, "success", null], [51, "lost_success", null], [54, "success", null], [57, "lost_success", null], [[58], "collision", [47.89]], [59, "success", null], [60, "lost_success", null], [[60], "collision", [326.34]], [61, "success", null], [[61, 62, 64, 65, 66, 67, 68, 69, 70, 71, 72], "collision", [84.62, 21.3, 35.85, 63.59, 30.7, 61.0, 88.52, 85.28, 117.71, 109.94, 82.11]], [74, "lost_success", null], [[74, 75], "collision", [100.24, 1.24]], [76, "success", null], [111, "lost_success", null], [112, "success", null], [116, "lost_success", null], [118, "success", null], [119, "lost_success", null], [121, "success", null], [135, "lost_success", null], [140, "success", null], [142, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 343, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 9, + "init_config_idx": 34, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [37, "success", null], [43, "lost_success", null], [129, "success", null], [132, "lost_success", null], [133, "success", null], [134, "lost_success", null], [135, "success", null], [138, "lost_success", null], [139, "success", null], [140, "lost_success", null], [146, "success", null], [180, "lost_success", null], [193, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 344, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 4, + "init_config_idx": 30, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 13, 15, 16, 18, 19, 20, 25, 26, 27, 28], "collision", [54.59, 202.21, 134.81, 176.99, 197.52, 194.72, 1318.03, 71.56, 130.37, 227.27, 81.68]], [29, "contact", null], [[29], "collision", [62.77]], [30, "grasped", null], [73, "success", null], [89, "lost_success", null], [90, "success", null], [115, "lost_success", null], [122, "success", null], [139, "lost_success", null], [140, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 345, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 30, + "init_config_idx": 7, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [16, "grasped", null], [28, "success", null], [49, "lost_success", null], [52, "success", null], [95, "lost_success", null], [101, "success", null], [104, "lost_success", null], [106, "success", null], [107, "lost_success", null], [190, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 346, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 2, + "init_config_idx": 38, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16], "collision", [267.19, 174.19, 197.05, 158.53, 155.72]], [20, "contact", null], [21, "grasped", null], [[27, 28, 29, 31, 47], "collision", [297.13, 82.07, 88.86, 96.27, 31.2]], [54, "success", null], [55, "lost_success", null], [57, "success", null], [[58], "collision", [1.19]], [59, "lost_success", null], [88, "success", null], [96, "lost_success", null], [100, "success", null], [128, "lost_success", null], [131, "success", null], [132, "lost_success", null], [133, "success", null], [142, "lost_success", null], [145, "success", null], [147, "lost_success", null], [148, "success", null], [150, "lost_success", null], [151, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [167, "success", null], [174, "lost_success", null], [175, "success", null], [176, "lost_success", null], [177, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 347, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 10, + "init_config_idx": 14, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [[21], "collision", [453.1]], [45, "success", null], [47, "lost_success", null], [121, "success", null], [124, "lost_success", null], [128, "success", null], [146, "lost_success", null], [148, "success", null], [149, "lost_success", null], [164, "success", null], [169, "lost_success", null], [170, "success", null], [179, "lost_success", null], [184, "success", null], [192, "lost_success", null], [193, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 348, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 31, + "init_config_idx": 41, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 13, 14, 15, 16, 19], "collision", [438.46, 1049.39, 140.04, 401.64, 174.34, 169.66]], [21, "contact", null], [21, "grasped", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [70, "lost_success", null], [115, "success", null], [126, "lost_success", null], [[126], "collision", [60.55]], [127, "success", null], [[127], "collision", [43.95]], [133, "lost_success", null], [136, "success", null], [139, "lost_success", null], [142, "success", null], [159, "lost_success", null], [171, "success", null], [194, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 349, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 25, + "init_config_idx": 22, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10], "collision", [507.52, 326.34, 186.57, 1268.66]], [11, "contact", null], [12, "grasped", null], [[14, 15], "collision", [269.08, 249.18]], [25, "success", null], [29, "lost_success", null], [37, "success", null], [54, "lost_success", null], [61, "success", null], [75, "lost_success", null], [76, "success", null], [86, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 350, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 1, + "init_config_idx": 27, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 22], "collision", [374.43, 264.84, 0.12]], [23, "contact", null], [24, "grasped", null], [[25, 26, 27, 28, 30], "collision", [274.62, 136.43, 0.16, 28.4, 609.37]], [53, "success", null], [55, "lost_success", null], [57, "success", null], [58, "lost_success", null], [60, "success", null], [62, "lost_success", null], [[62, 63], "collision", [21.52, 38.96]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 72, 73], "collision", [24.11, 16.26, 9.82, 14.79, 10.87, 16.98, 4.85, 9.37, 6.32]], [74, "lost_success", null], [[74], "collision", [18.18]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [20.46, 19.42, 18.4, 5.57, 14.9, 23.79, 22.36, 18.72, 15.14, 18.54, 9.5, 13.94, 13.79, 15.25, 10.93]], [90, "lost_success", null], [95, "success", null], [99, "lost_success", null], [100, "success", null], [101, "lost_success", null], [104, "success", null], [109, "lost_success", null], [113, "success", null], [[113], "collision", [13.76]], [114, "lost_success", null], [117, "success", null], [[146, 147, 148, 149], "collision", [9.36, 56.38, 85.31, 50.04]], [152, "lost_success", null], [154, "success", null], [[155, 156, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 184, 190, 191, 192, 193, 195], "collision", [39.37, 25.24, 66.19, 26.25, 23.12, 34.15, 39.25, 3.94, 17.61, 46.51, 53.59, 33.57, 44.29, 44.64, 47.39, 54.72, 27.91, 40.02, 7.3, 29.42, 35.46, 14.72, 16.02, 0.77, 41.86, 50.42, 32.82, 16.38, 6.89]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 351, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 16, + "init_config_idx": 23, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [847.05]], [18, "contact", null], [18, "grasped", null], [[18, 22, 23, 24], "collision", [45.64, 92.39, 42.09, 12.37]], [79, "success", null], [[149], "collision", [40.58]], [150, "lost_success", null], [[150, 151, 152, 153, 154, 155, 156], "collision", [111.41, 13.56, 33.48, 75.23, 109.5, 64.68, 56.62]], [157, "success", null], [[157, 158, 161, 162, 163], "collision", [51.29, 17.66, 65.65, 8.79, 17.71]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 352, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 66, + "init_config_idx": 27, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21, 22, 24, 26, 27, 30, 31, 32], "collision", [212.9, 202.55, 260.64, 1341.73, 139.6, 553.93, 428.61, 159.56]], [36, "contact", null], [38, "lost_contact", null], [39, "contact", null], [[40, 41, 42], "collision", [0.17, 9.39, 18.41]], [43, "grasped", null], [[46], "collision", [61.8]], [68, "success", null], [71, "lost_success", null], [76, "success", null], [77, "lost_success", null], [79, "success", null], [100, "lost_success", null], [104, "success", null], [105, "lost_success", null], [106, "success", null], [118, "lost_success", null], [121, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 353, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 15, + "init_config_idx": 2, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [373.48]], [15, "contact", null], [18, "lost_contact", null], [20, "contact", null], [[22], "collision", [3.42]], [24, "grasped", null], [38, "success", null], [40, "lost_success", null], [44, "success", null], [45, "lost_success", null], [95, "success", null], [115, "lost_success", null], [116, "success", null], [121, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 354, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 13, + "init_config_idx": 28, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [217.12]], [20, "contact", null], [21, "grasped", null], [[28], "collision", [169.05]], [40, "success", null], [49, "lost_success", null], [103, "success", null], [125, "lost_success", null], [131, "success", null], [132, "lost_success", null], [136, "success", null], [139, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 355, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 22, + "init_config_idx": 7, + "spawn_selection_idx": 7, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "grasped", null], [[18, 19], "collision", [207.35, 38.84]], [29, "success", null], [32, "lost_success", null], [50, "success", null], [64, "lost_success", null], [67, "success", null], [75, "lost_success", null], [76, "success", null], [95, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 356, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 1, + "init_config_idx": 46, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [9, "grasped", null], [22, "success", null], [34, "lost_success", null], [54, "success", null], [60, "lost_success", null], [63, "success", null], [64, "lost_success", null], [67, "success", null], [69, "lost_success", null], [71, "success", null], [77, "lost_success", null], [[91, 92, 104, 105, 106, 107], "collision", [56.5, 43.96, 79.17, 12.81, 7.38, 8.54]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 357, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 30, + "init_config_idx": 37, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34], "collision", [335.91, 92.29, 1130.05, 339.27, 460.47, 479.19, 210.55, 202.58, 183.98, 188.4, 200.16, 155.08]], [35, "contact", null], [[35, 36], "collision", [221.35, 80.28]], [42, "lost_contact", null], [43, "contact", null], [44, "grasped", null], [99, "success", null], [106, "lost_success", null], [118, "success", null], [126, "lost_success", null], [149, "success", null], [165, "lost_success", null], [[173, 174, 175, 176, 177, 178, 181, 182, 183, 186, 187, 188, 189, 190], "collision", [58.93, 62.39, 44.6, 43.73, 9.7, 26.02, 39.87, 33.4, 62.81, 52.97, 8.63, 21.6, 34.16, 67.93]], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 358, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 40, + "init_config_idx": 29, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 12], "collision", [184.29, 200.53, 257.98]], [20, "contact", null], [[20], "collision", [11.32]], [21, "grasped", null], [[21, 22, 26], "collision", [7.16, 0.14, 1200.9]], [45, "success", null], [49, "lost_success", null], [50, "success", null], [52, "lost_success", null], [53, "success", null], [61, "lost_success", null], [63, "success", null], [64, "lost_success", null], [66, "success", null], [74, "lost_success", null], [75, "success", null], [79, "lost_success", null], [80, "success", null], [99, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [106, "lost_success", null], [110, "success", null], [121, "lost_success", null], [122, "success", null], [124, "lost_success", null], [127, "success", null], [141, "lost_success", null], [142, "success", null], [149, "lost_success", null], [150, "success", null], [154, "lost_success", null], [157, "success", null], [160, "lost_success", null], [165, "success", null], [169, "lost_success", null], [171, "success", null], [177, "lost_success", null], [178, "success", null], [193, "lost_success", null], [195, "success", null], [196, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 359, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 45, + "init_config_idx": 7, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[36, "contact", null], [37, "lost_contact", null], [42, "contact", null], [42, "grasped", null], [[48, 49, 50], "collision", [50.95, 61.69, 84.49]], [62, "success", null], [85, "lost_success", null], [86, "success", null], [149, "lost_success", null], [164, "success", null], [179, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 360, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 5, + "init_config_idx": 34, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [44, "success", null], [50, "lost_success", null], [52, "success", null], [64, "lost_success", null], [65, "success", null], [108, "lost_success", null], [117, "success", null], [120, "lost_success", null], [121, "success", null], [139, "lost_success", null], [149, "success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185], "collision", [36.19, 30.29, 29.18, 28.24, 31.67, 35.21, 35.49, 33.69, 32.82, 31.6, 34.8, 37.41, 33.7, 34.82, 30.49, 30.07, 33.84, 34.9, 34.24, 32.01, 33.92, 34.41, 36.8, 38.83, 31.79, 33.59, 32.89, 31.14, 31.9, 29.35, 30.74, 32.14, 34.49, 31.34, 32.17, 29.92, 9.0]], [186, "lost_success", null], [189, "success", null], [190, "lost_success", null], [192, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 361, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 42, + "init_config_idx": 2, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [[27, 28, 29, 30, 31, 36], "collision", [83.57, 96.52, 108.94, 107.8, 98.94, 61.86]], [37, "success", null], [38, "lost_success", null], [[38], "collision", [62.33]], [39, "success", null], [56, "lost_success", null], [[56], "collision", [746.56]], [57, "success", null], [[58, 60, 87, 90, 92, 93, 95, 96, 97], "collision", [167.03, 88.99, 1109.26, 236.16, 526.79, 188.35, 254.05, 78.67, 90.21]], [103, "lost_success", null], [104, "success", null], [106, "lost_success", null], [109, "success", null], [122, "lost_success", null], [132, "success", null], [136, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 362, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 46, + "init_config_idx": 15, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 4, 5, 6, 7, 8, 17], "collision", [886.11, 578.85, 30.1, 367.41, 350.86, 642.27, 206.01, 71.01]], [20, "contact", null], [21, "lost_contact", null], [22, "contact", null], [24, "grasped", null], [58, "success", null], [59, "lost_success", null], [89, "success", null], [96, "lost_success", null], [120, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [151, "success", null], [153, "lost_success", null], [160, "success", null], [177, "lost_success", null], [178, "success", null], [196, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 363, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 53, + "init_config_idx": 23, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [41, "success", null], [78, "lost_success", null], [89, "success", null], [92, "lost_success", null], [139, "success", null], [149, "lost_success", null], [181, "success", null], [186, "lost_success", null], [188, "success", null], [192, "lost_success", null], [193, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 364, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 41, + "init_config_idx": 2, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [[19], "collision", [2353.71]], [20, "grasped", null], [[24, 25, 26], "collision", [4.66, 111.26, 186.77]], [38, "success", null], [56, "lost_success", null], [63, "success", null], [64, "lost_success", null], [91, "success", null], [129, "lost_success", null], [135, "success", null], [142, "lost_success", null], [146, "success", null], [151, "lost_success", null], [155, "success", null], [156, "lost_success", null], [159, "success", null], [174, "lost_success", null], [190, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 365, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 11, + "init_config_idx": 21, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [220.74, 190.43]], [11, "contact", null], [12, "grasped", null], [25, "success", null], [32, "lost_success", null], [33, "success", null], [35, "lost_success", null], [37, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [81, "lost_success", null], [89, "success", null], [93, "lost_success", null], [107, "success", null], [108, "lost_success", null], [[193, 194, 195, 196, 197, 198, 199], "collision", [420.12, 413.13, 266.71, 279.95, 300.76, 297.91, 252.62]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 366, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 34, + "init_config_idx": 16, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18, 19, 20, 21], "collision", [718.24, 337.9, 369.02, 388.49, 354.42, 217.19]], [23, "contact", null], [23, "grasped", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [54, "lost_success", null], [59, "success", null], [62, "lost_success", null], [68, "success", null], [69, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [79, "lost_success", null], [80, "success", null], [97, "lost_success", null], [98, "success", null], [117, "lost_success", null], [119, "success", null], [130, "lost_success", null], [140, "success", null], [142, "lost_success", null], [143, "success", null], [146, "lost_success", null], [166, "success", null], [171, "lost_success", null], [184, "success", null], [185, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 367, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 20, + "init_config_idx": 38, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [255.75, 240.8, 114.92, 166.34]], [12, "contact", null], [13, "lost_contact", null], [15, "contact", null], [19, "lost_contact", null], [24, "contact", null], [25, "lost_contact", null], [30, "contact", null], [32, "lost_contact", null], [33, "contact", null], [34, "lost_contact", null], [38, "contact", null], [39, "lost_contact", null], [40, "contact", null], [41, "grasped", null], [[42, 43], "collision", [222.65, 37.35]], [58, "success", null], [62, "lost_success", null], [63, "success", null], [74, "lost_success", null], [82, "success", null], [86, "lost_success", null], [88, "success", null], [89, "lost_success", null], [90, "success", null], [100, "lost_success", null], [101, "success", null], [102, "lost_success", null], [105, "success", null], [111, "lost_success", null], [114, "success", null], [116, "lost_success", null], [117, "success", null], [118, "lost_success", null], [123, "success", null], [128, "lost_success", null], [150, "success", null], [163, "lost_success", null], [167, "success", null], [178, "lost_success", null], [184, "success", null], [191, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 368, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 15, + "init_config_idx": 40, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 8, 10, 11, 12, 13, 15], "collision", [397.69, 374.55, 128.3, 252.15, 254.12, 229.62, 217.36, 122.99]], [17, "contact", null], [18, "grasped", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [46, "lost_success", null], [47, "success", null], [49, "lost_success", null], [52, "success", null], [53, "lost_success", null], [142, "success", null], [144, "lost_success", null], [149, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [153, "success", null], [154, "lost_success", null], [155, "success", null], [166, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 369, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 60, + "init_config_idx": 10, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [497.76]], [15, "contact", null], [[15], "collision", [613.52]], [16, "lost_contact", null], [18, "contact", null], [18, "grasped", null], [38, "success", null], [41, "lost_success", null], [42, "success", null], [[81, 84, 85, 87, 100, 101, 102, 103, 104, 107, 108], "collision", [43.53, 49.81, 25.29, 158.54, 99.8, 130.93, 172.47, 296.28, 135.37, 130.96, 91.3]], [123, "lost_success", null], [126, "success", null], [132, "lost_success", null], [134, "success", null], [138, "lost_success", null], [146, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [160, "success", null], [166, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 370, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 14, + "init_config_idx": 29, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [1048.35]], [22, "contact", null], [[22, 23], "collision", [282.19, 155.69]], [24, "grasped", null], [[24], "collision", [75.13]], [47, "success", null], [52, "lost_success", null], [65, "success", null], [78, "lost_success", null], [96, "success", null], [110, "lost_success", null], [112, "success", null], [119, "lost_success", null], [120, "success", null], [122, "lost_success", null], [141, "success", null], [147, "lost_success", null], [172, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 371, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 28, + "init_config_idx": 7, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[23, 24], "collision", [108.29, 324.52]], [35, "success", null], [37, "lost_success", null], [40, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [49, "success", null], [51, "lost_success", null], [53, "success", null], [77, "lost_success", null], [79, "success", null], [129, "lost_success", null], [161, "success", null], [171, "lost_success", null], [188, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 372, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 30, + "init_config_idx": 31, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 12, 13, 14], "collision", [178.68, 376.76, 216.0, 141.67]], [15, "contact", null], [16, "grasped", null], [34, "success", null], [35, "lost_success", null], [37, "success", null], [41, "lost_success", null], [54, "success", null], [58, "lost_success", null], [75, "success", null], [78, "lost_success", null], [80, "success", null], [81, "lost_success", null], [159, "success", null], [180, "lost_success", null], [181, "success", null], [182, "lost_success", null], [187, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 373, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 6, + "init_config_idx": 5, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [7.2]], [13, "contact", null], [14, "lost_contact", null], [17, "contact", null], [17, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26], "collision", [439.9, 225.33, 326.49, 309.48, 313.74, 312.41, 307.67, 198.43]], [45, "success", null], [49, "lost_success", null], [51, "success", null], [56, "lost_success", null], [65, "success", null], [81, "lost_success", null], [82, "success", null], [86, "lost_success", null], [87, "success", null], [92, "lost_success", null], [98, "success", null], [118, "lost_success", null], [189, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 374, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 30, + "init_config_idx": 6, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [1833.78, 439.9]], [25, "contact", null], [27, "grasped", null], [50, "success", null], [55, "lost_success", null], [73, "success", null], [90, "lost_success", null], [92, "success", null], [[96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [13.15, 21.35, 18.84, 20.41, 19.1, 16.66, 13.64, 12.29, 10.0, 10.56, 11.62, 17.05, 17.21, 8.17, 4.48]], [111, "lost_success", null], [[111, 112], "collision", [9.51, 0.49]], [113, "success", null], [117, "lost_success", null], [118, "success", null], [129, "lost_success", null], [131, "success", null], [136, "lost_success", null], [138, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [143, "success", null], [145, "lost_success", null], [147, "success", null], [156, "lost_success", null], [173, "success", null], [184, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 375, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 12, + "init_config_idx": 43, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [[22], "collision", [0.09]], [33, "lost_contact", null], [[35], "collision", [60.85]], [37, "contact", null], [38, "grasped", null], [52, "success", null], [59, "lost_success", null], [63, "success", null], [67, "lost_success", null], [91, "success", null], [93, "lost_success", null], [94, "success", null], [112, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 376, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 10, + "init_config_idx": 41, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 7, 8], "collision", [602.02, 206.71, 227.87, 131.48]], [9, "contact", null], [13, "grasped", null], [[16, 17, 18, 19, 20, 21, 31, 32, 33], "collision", [533.89, 228.59, 316.32, 344.56, 324.07, 221.92, 5.58, 1.19, 1.06]], [38, "success", null], [41, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [[56, 57, 58, 59], "collision", [1.33, 1.01, 1.42, 1.39]], [60, "lost_success", null], [[60, 61, 62], "collision", [0.84, 0.91, 2.33]], [63, "success", null], [[63, 64, 65], "collision", [1.77, 0.9, 1.02]], [67, "lost_success", null], [72, "success", null], [76, "lost_success", null], [81, "success", null], [83, "lost_success", null], [84, "success", null], [92, "lost_success", null], [93, "success", null], [103, "lost_success", null], [[118, 119, 120, 121, 122, 123], "collision", [5.56, 1.84, 1.02, 0.83, 1.24, 0.98]], [124, "success", null], [[124, 125, 126], "collision", [0.94, 1.07, 1.21]], [127, "lost_success", null], [[127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 143, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170], "collision", [1.47, 1.47, 0.88, 1.05, 1.05, 1.1, 1.22, 1.26, 1.16, 1.2, 0.73, 1.01, 1.29, 1.15, 1.22, 0.85, 1.28, 1.23, 1.16, 1.33, 1.16, 1.41, 1.31, 1.35, 1.33, 1.49, 1.17, 1.1, 0.94, 1.39, 1.07]], [186, "success", null], [187, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 377, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 45, + "init_config_idx": 0, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [36, "success", null], [40, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [51, "lost_success", null], [61, "success", null], [68, "lost_success", null], [103, "success", null], [110, "lost_success", null], [162, "success", null], [176, "lost_success", null], [179, "success", null], [182, "lost_success", null], [185, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 378, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 25, + "init_config_idx": 46, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[7, "contact", null], [9, "grasped", null], [[10, 68, 69, 80, 82], "collision", [0.05, 0.0, 0.0, 0.0, 0.0]], [163, "success", null], [167, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 379, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 47, + "init_config_idx": 21, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17], "collision", [321.07, 197.59, 350.43]], [18, "contact", null], [[18], "collision", [385.72]], [19, "grasped", null], [[30, 31], "collision", [11.54, 6.48]], [40, "success", null], [43, "lost_success", null], [53, "success", null], [54, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [[101, 102, 103, 104, 105, 107, 108], "collision", [80.67, 99.45, 72.7, 41.53, 63.42, 14.36, 42.37]], [129, "lost_success", null], [148, "success", null], [160, "lost_success", null], [163, "success", null], [180, "lost_success", null], [188, "success", null], [194, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 380, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 36, + "init_config_idx": 2, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [244.83, 532.39, 286.55, 308.76, 179.39]], [14, "contact", null], [14, "grasped", null], [[18, 19, 20], "collision", [1030.95, 585.12, 503.25]], [30, "success", null], [31, "lost_success", null], [[35], "collision", [141.32]], [39, "success", null], [46, "lost_success", null], [47, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [58, "success", null], [63, "lost_success", null], [65, "success", null], [68, "lost_success", null], [74, "success", null], [86, "lost_success", null], [87, "success", null], [102, "lost_success", null], [104, "success", null], [113, "lost_success", null], [120, "success", null], [132, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 381, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 6, + "init_config_idx": 44, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [37, "success", null], [46, "lost_success", null], [47, "success", null], [49, "lost_success", null], [61, "success", null], [101, "lost_success", null], [115, "success", null], [146, "lost_success", null], [166, "success", null], [175, "lost_success", null], [[191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [12.36, 8.95, 9.36, 8.27, 8.32, 8.19, 8.38, 12.92, 12.36]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 382, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 5, + "init_config_idx": 2, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[28, 29], "collision", [9.94, 10.23]], [46, "success", null], [50, "lost_success", null], [60, "success", null], [70, "lost_success", null], [90, "success", null], [97, "lost_success", null], [128, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [148, "success", null], [177, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 383, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 28, + "init_config_idx": 20, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 12, 13, 14], "collision", [465.11, 292.08, 272.12, 218.56]], [15, "contact", null], [15, "grasped", null], [[15, 25, 26, 27, 29, 31, 32, 33, 35], "collision", [83.43, 158.48, 174.72, 176.74, 60.06, 86.82, 69.6, 78.93, 75.83]], [37, "success", null], [[37, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 71], "collision", [58.66, 34.73, 69.83, 44.73, 91.54, 66.95, 83.04, 73.65, 22.49, 70.4, 77.99, 38.13, 46.25, 42.59, 50.49, 20.22, 80.53, 109.03, 89.0, 116.42, 22.03, 119.33]], [115, "lost_success", null], [124, "success", null], [128, "lost_success", null], [153, "success", null], [156, "lost_success", null], [157, "success", null], [163, "lost_success", null], [169, "success", null], [170, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 384, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 39, + "init_config_idx": 29, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [222.74]], [20, "contact", null], [21, "lost_contact", null], [[21, 22], "collision", [323.36, 48.8]], [30, "contact", null], [31, "grasped", null], [[36], "collision", [213.99]], [48, "success", null], [52, "lost_success", null], [53, "success", null], [57, "lost_success", null], [58, "success", null], [67, "lost_success", null], [70, "success", null], [87, "lost_success", null], [94, "success", null], [106, "lost_success", null], [112, "success", null], [113, "lost_success", null], [116, "success", null], [126, "lost_success", null], [136, "success", null], [158, "lost_success", null], [169, "success", null], [191, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 385, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 17, + "init_config_idx": 32, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [45, "success", null], [50, "lost_success", null], [56, "success", null], [60, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [[75, 76, 77, 78, 79, 80, 82, 83, 84, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [104.51, 25.0, 38.15, 28.98, 33.42, 23.83, 23.02, 22.43, 40.45, 32.38, 28.7, 6.31, 71.15, 52.93, 64.27, 75.76, 41.55, 44.75, 23.5, 29.26, 36.14, 41.16, 39.66]], [100, "lost_success", null], [[100, 101, 102, 103, 104, 105, 106, 107], "collision", [56.54, 52.55, 51.47, 65.21, 53.33, 53.54, 73.84, 61.62]], [108, "success", null], [[108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166], "collision", [61.03, 59.11, 42.86, 56.96, 48.22, 56.48, 56.49, 36.14, 38.73, 43.59, 35.35, 36.85, 14.93, 36.18, 18.27, 15.77, 19.55, 15.86, 22.27, 17.75, 15.81, 31.48, 52.71, 38.83, 22.77, 33.96, 27.39, 22.96, 21.59, 32.3, 31.62, 41.9, 32.47, 29.64, 26.74, 26.77, 34.16, 38.41, 32.31, 43.94, 25.76, 28.94, 41.25, 49.66, 34.97, 50.43, 43.95, 52.39, 31.82, 30.09, 32.06, 31.62, 42.72, 45.5, 51.18, 55.63, 71.96, 71.42, 43.6]], [167, "lost_success", null], [168, "success", null], [[169, 170, 171, 172, 173, 174, 175], "collision", [33.45, 14.26, 6.72, 27.21, 23.32, 21.92, 25.19]], [176, "lost_success", null], [177, "success", null], [[177, 178, 179, 180, 182, 183, 184], "collision", [19.16, 20.68, 13.53, 15.98, 27.35, 13.76, 12.25]], [185, "lost_success", null], [[185, 187, 188, 189, 190, 191, 192, 193], "collision", [7.42, 21.71, 31.6, 35.81, 33.08, 40.92, 21.23, 34.86]], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 386, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 13, + "init_config_idx": 11, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19], "collision", [921.08, 377.03]], [20, "contact", null], [21, "grasped", null], [59, "success", null], [64, "lost_success", null], [70, "success", null], [74, "lost_success", null], [[74, 75, 76, 77], "collision", [58.38, 103.23, 26.83, 75.35]], [91, "success", null], [94, "lost_success", null], [105, "success", null], [107, "lost_success", null], [108, "success", null], [111, "lost_success", null], [112, "success", null], [120, "lost_success", null], [145, "success", null], [152, "lost_success", null], [153, "success", null], [155, "lost_success", null], [156, "success", null], [168, "lost_success", null], [169, "success", null], [172, "lost_success", null], [173, "success", null], [188, "lost_success", null], [192, "success", null], [193, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 387, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 3, + "init_config_idx": 15, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [[20], "collision", [1.29]], [22, "grasped", null], [39, "success", null], [40, "lost_success", null], [42, "success", null], [63, "lost_success", null], [91, "success", null], [96, "lost_success", null], [98, "success", null], [173, "lost_success", null], [175, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 388, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 18, + "init_config_idx": 34, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [17, "grasped", null], [33, "success", null], [40, "lost_success", null], [41, "success", null], [45, "lost_success", null], [46, "success", null], [58, "lost_success", null], [67, "success", null], [77, "lost_success", null], [89, "success", null], [117, "lost_success", null], [122, "success", null], [129, "lost_success", null], [130, "success", null], [158, "lost_success", null], [159, "success", null], [165, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 389, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 10, + "init_config_idx": 29, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [1949.75, 242.6]], [16, "contact", null], [16, "grasped", null], [[17, 20, 24], "collision", [292.8, 70.02, 17.98]], [33, "success", null], [35, "lost_success", null], [48, "success", null], [76, "lost_success", null], [98, "success", null], [102, "lost_success", null], [116, "success", null], [117, "lost_success", null], [128, "success", null], [144, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 390, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 28, + "init_config_idx": 34, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3], "collision", [128.07, 160.24]], [16, "contact", null], [16, "grasped", null], [[21, 22, 23, 24], "collision", [358.4, 347.39, 311.26, 181.0]], [34, "success", null], [35, "lost_success", null], [36, "success", null], [38, "lost_success", null], [39, "success", null], [42, "lost_success", null], [53, "success", null], [54, "lost_success", null], [57, "success", null], [60, "lost_success", null], [63, "success", null], [69, "lost_success", null], [77, "success", null], [85, "lost_success", null], [94, "success", null], [104, "lost_success", null], [113, "success", null], [119, "lost_success", null], [120, "success", null], [139, "lost_success", null], [140, "success", null], [[172, 173, 174], "collision", [10.53, 26.31, 54.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 391, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 30, + "init_config_idx": 31, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [28, "success", null], [34, "lost_success", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [38, "lost_success", null], [58, "success", null], [91, "lost_success", null], [96, "success", null], [97, "lost_success", null], [99, "success", null], [107, "lost_success", null], [108, "success", null], [109, "lost_success", null], [118, "success", null], [129, "lost_success", null], [158, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 392, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 23, + "init_config_idx": 40, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 14, 15, 16, 17], "collision", [249.11, 628.59, 400.61, 420.48, 254.21, 315.47, 123.18, 500.9]], [19, "contact", null], [19, "grasped", null], [36, "success", null], [45, "lost_success", null], [46, "success", null], [52, "lost_success", null], [53, "success", null], [54, "lost_success", null], [59, "success", null], [60, "lost_success", null], [62, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [83, "success", null], [89, "lost_success", null], [[99, 100, 101], "collision", [5.62, 8.29, 6.6]], [102, "success", null], [[102], "collision", [9.49]], [103, "lost_success", null], [[103, 104, 105, 106, 107, 108, 109, 110, 111], "collision", [7.73, 6.9, 6.8, 6.68, 7.61, 6.08, 5.99, 6.47, 6.47]], [112, "success", null], [[112, 113, 114], "collision", [7.01, 7.06, 7.73]], [115, "lost_success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130], "collision", [7.16, 7.88, 8.36, 8.37, 6.74, 6.83, 7.08, 7.04, 6.88, 7.95, 6.79, 6.55, 5.85, 4.54, 6.0, 5.96]], [131, "success", null], [[131, 132], "collision", [4.82, 5.3]], [134, "lost_success", null], [[134, 135, 136, 137], "collision", [16.21, 13.17, 11.7, 23.92]], [138, "success", null], [139, "lost_success", null], [140, "success", null], [[141], "collision", [6.97]], [142, "lost_success", null], [[142], "collision", [9.69]], [143, "success", null], [[143, 144, 147, 148], "collision", [21.52, 13.74, 7.79, 7.27]], [151, "lost_success", null], [152, "success", null], [153, "lost_success", null], [154, "success", null], [159, "lost_success", null], [160, "success", null], [162, "lost_success", null], [171, "success", null], [185, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 393, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 8, + "init_config_idx": 16, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [34, "success", null], [38, "lost_success", null], [40, "success", null], [48, "lost_success", null], [49, "success", null], [[55, 56], "collision", [92.46, 73.0]], [57, "lost_success", null], [[57, 58, 59, 60, 61], "collision", [58.28, 11.74, 22.27, 18.07, 70.73]], [62, "success", null], [[62, 63, 64, 65, 66, 67, 68, 69], "collision", [85.15, 78.68, 64.61, 54.23, 76.59, 69.02, 97.92, 117.07]], [70, "lost_success", null], [[70, 71, 72], "collision", [76.44, 20.15, 10.22]], [79, "success", null], [84, "lost_success", null], [[84], "collision", [104.15]], [85, "success", null], [[85], "collision", [58.3]], [86, "lost_success", null], [[86, 87, 88, 89, 90, 91], "collision", [57.05, 66.11, 48.6, 49.51, 37.84, 25.9]], [94, "success", null], [102, "lost_success", null], [105, "success", null], [126, "lost_success", null], [127, "success", null], [146, "lost_success", null], [147, "success", null], [151, "lost_success", null], [152, "success", null], [153, "lost_success", null], [154, "success", null], [155, "lost_success", null], [156, "success", null], [158, "lost_success", null], [163, "success", null], [167, "lost_success", null], [194, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 394, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 23, + "init_config_idx": 22, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [15, "grasped", null], [32, "success", null], [34, "lost_success", null], [41, "success", null], [45, "lost_success", null], [56, "success", null], [67, "lost_success", null], [68, "success", null], [70, "lost_success", null], [72, "success", null], [77, "lost_success", null], [136, "success", null], [144, "lost_success", null], [145, "success", null], [157, "lost_success", null], [158, "success", null], [164, "lost_success", null], [165, "success", null], [183, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 395, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 5, + "init_config_idx": 10, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[25, 26], "collision", [370.21, 136.73]], [36, "success", null], [47, "lost_success", null], [50, "success", null], [[71, 72, 73], "collision", [102.07, 0.49, 9.46]], [116, "lost_success", null], [122, "success", null], [125, "lost_success", null], [128, "success", null], [129, "lost_success", null], [130, "success", null], [137, "lost_success", null], [153, "success", null], [161, "lost_success", null], [162, "success", null], [181, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 396, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 37, + "init_config_idx": 5, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [101.63]], [26, "contact", null], [[26, 28], "collision", [14.32, 55.68]], [30, "lost_contact", null], [83, "contact", null], [85, "grasped", null], [[102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112], "collision", [421.64, 278.73, 282.06, 281.21, 223.02, 177.79, 203.33, 197.64, 160.06, 75.55, 51.39]], [130, "success", null], [140, "lost_success", null], [142, "success", null], [148, "lost_success", null], [150, "success", null], [156, "lost_success", null], [160, "success", null], [185, "lost_success", null], [187, "success", null], [196, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 397, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 1, + "init_config_idx": 17, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [54, "lost_success", null], [84, "success", null], [96, "lost_success", null], [97, "success", null], [104, "lost_success", null], [120, "success", null], [137, "lost_success", null], [140, "success", null], [143, "lost_success", null], [185, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 398, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 25, + "init_config_idx": 33, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [40, "success", null], [44, "lost_success", null], [45, "success", null], [94, "lost_success", null], [95, "success", null], [104, "lost_success", null], [111, "success", null], [157, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 399, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 10, + "init_config_idx": 37, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [97.3, 289.73, 282.66, 200.37]], [15, "contact", null], [[16], "collision", [417.41]], [17, "grasped", null], [[22, 23], "collision", [33.7, 251.91]], [35, "success", null], [36, "lost_success", null], [[36], "collision", [0.21]], [37, "success", null], [[37, 38, 39, 40, 41, 42, 43, 44], "collision", [0.05, 132.5, 31.19, 0.09, 0.09, 0.09, 0.09, 0.09]], [45, "lost_success", null], [[45, 46, 47, 48, 49, 50, 51, 52], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [53, "success", null], [[53, 54, 55, 56], "collision", [0.09, 0.09, 0.09, 0.09]], [57, "lost_success", null], [[57], "collision", [0.09]], [58, "success", null], [[58, 59, 60, 61, 62, 63, 64], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [65, "lost_success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [82, "lost_success", null], [[82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [93, "success", null], [[93], "collision", [0.09]], [94, "lost_success", null], [[94], "collision", [0.09]], [95, "success", null], [[95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.12, 0.1, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [152, "lost_success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [167, "success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [178, "lost_success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 400, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 17, + "init_config_idx": 39, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [48, "success", null], [50, "lost_success", null], [78, "success", null], [91, "lost_success", null], [114, "success", null], [120, "lost_success", null], [127, "success", null], [130, "lost_success", null], [141, "success", null], [142, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 401, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 39, + "init_config_idx": 6, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "lost_contact", null], [20, "contact", null], [21, "grasped", null], [39, "success", null], [40, "lost_success", null], [[71, 72, 73, 74, 75, 76, 77, 78], "collision", [7.98, 8.24, 6.32, 7.37, 7.02, 7.94, 8.04, 6.14]], [79, "success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [6.74, 7.29, 6.88, 7.63, 8.5, 8.11, 7.69, 4.82, 5.45]], [97, "lost_success", null], [[97, 98, 99, 100, 101, 102], "collision", [8.76, 7.34, 15.39, 6.72, 11.85, 6.97]], [104, "success", null], [[104], "collision", [2.96]], [105, "lost_success", null], [107, "success", null], [113, "lost_success", null], [114, "success", null], [121, "lost_success", null], [139, "success", null], [145, "lost_success", null], [147, "success", null], [153, "lost_success", null], [154, "success", null], [159, "lost_success", null], [160, "success", null], [165, "lost_success", null], [166, "success", null], [167, "lost_success", null], [168, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [174, "success", null], [175, "lost_success", null], [182, "success", null], [184, "lost_success", null], [185, "success", null], [192, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 402, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 19, + "init_config_idx": 57, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [27, "lost_contact", null], [30, "contact", null], [33, "grasped", null], [59, "success", null], [71, "lost_success", null], [75, "success", null], [76, "lost_success", null], [80, "success", null], [81, "lost_success", null], [82, "success", null], [87, "lost_success", null], [91, "success", null], [94, "lost_success", null], [97, "success", null], [101, "lost_success", null], [127, "success", null], [130, "lost_success", null], [141, "success", null], [142, "lost_success", null], [150, "success", null], [152, "lost_success", null], [167, "success", null], [168, "lost_success", null], [169, "success", null], [170, "lost_success", null], [173, "success", null], [174, "lost_success", null], [183, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 403, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 7, + "init_config_idx": 8, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37], "collision", [1.64, 1.3, 1.63, 1.2, 90.71, 107.47, 96.27, 91.55, 97.55, 104.4, 110.31, 95.58, 1.13, 0.97, 0.97]], [38, "success", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57], "collision", [0.86, 0.97, 0.81, 0.76, 0.75, 0.83, 0.78, 0.84, 0.7, 0.75, 0.73, 0.82, 1.0, 0.84, 0.88, 1.16, 0.94, 0.82, 0.8, 0.81]], [58, "lost_success", null], [[58, 59, 60], "collision", [0.83, 0.83, 0.89]], [61, "success", null], [[61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84], "collision", [0.7, 0.82, 0.96, 1.53, 1.28, 1.26, 1.22, 1.21, 1.16, 1.07, 1.18, 1.15, 1.13, 273.58, 1.6, 1.47, 954.76, 1.52, 1005.78, 1.23, 149.66, 1.35, 1.28, 1.3]], [85, "lost_success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [1.33, 1.2, 1.41, 1.45, 1.28, 1.16, 0.95, 1.05, 0.65, 0.85, 0.66, 0.75]], [97, "success", null], [[97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [0.94, 0.82, 0.72, 0.84, 0.81, 0.79, 0.76, 0.79, 0.76]], [106, "lost_success", null], [[106], "collision", [0.94]], [107, "success", null], [[107, 108], "collision", [0.91, 0.93]], [109, "lost_success", null], [[109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.84, 0.86, 1.02, 1.05, 0.99, 0.88, 0.81, 1.22, 1.14, 1.37, 1.04, 1.09, 1.05, 1.27, 1.19, 1.31, 1.22, 1.32, 1.41, 1.45, 1.58, 1.65, 1.98, 1.66, 1.56, 1.45, 2.14, 1.84, 1.61, 1.5, 1.6, 1.66, 1.52, 1.71, 1.66, 2.97, 2.97, 4.65, 1.19, 0.63, 0.87, 1.01, 1.13, 0.92, 0.79, 0.9, 1.04, 1.08, 1.17, 1.03, 1.03, 1.12, 1.27, 1.09, 1.09, 1.08, 1.58, 1.31, 1.54, 1.35, 1.2, 1.35, 1.7, 1.38, 1.36, 1.46, 1.42, 1.5, 1.76, 1.4, 1.23, 1.55, 1.34, 1.33, 1.58, 1.5, 1.45, 1.47, 1.52, 1.43, 1.5, 1.43, 1.44, 1.45, 1.57, 1.55, 1.51, 1.34, 1.41, 1.37, 1.37]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 404, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 30, + "init_config_idx": 13, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[24], "collision", [1.14]], [25, "contact", null], [26, "lost_contact", null], [[26], "collision", [112.94]], [27, "contact", null], [[27], "collision", [123.41]], [28, "lost_contact", null], [[28], "collision", [0.64]], [29, "contact", null], [[29], "collision", [0.53]], [30, "lost_contact", null], [[30], "collision", [70.56]], [31, "contact", null], [31, "grasped", null], [[31, 32], "collision", [298.34, 50.24]], [55, "success", null], [56, "lost_success", null], [67, "success", null], [[67, 68], "collision", [0.56, 0.44]], [71, "lost_success", null], [76, "success", null], [80, "lost_success", null], [87, "success", null], [[87, 88, 89, 90], "collision", [0.44, 0.09, 0.2, 0.05]], [99, "lost_success", null], [104, "success", null], [114, "lost_success", null], [[129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [0.17, 0.18, 0.13, 0.14, 0.13, 0.14, 0.22, 0.23, 0.21, 0.23, 0.24, 0.21, 0.22, 0.21, 0.22, 0.25, 0.24]], [146, "success", null], [[146, 147, 148, 149, 150, 151, 152, 153, 154, 155], "collision", [0.19, 0.21, 0.25, 0.24, 0.23, 0.23, 0.23, 0.18, 0.2, 0.18]], [180, "lost_success", null], [183, "success", null], [186, "lost_success", null], [[187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.52, 0.22, 0.13, 0.21, 0.1, 0.13, 0.16, 0.13, 0.14, 0.13, 0.12, 0.14, 0.12]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 405, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 21, + "init_config_idx": 10, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [19, "lost_contact", null], [21, "contact", null], [22, "lost_contact", null], [28, "contact", null], [30, "lost_contact", null], [31, "contact", null], [31, "grasped", null], [57, "success", null], [68, "lost_success", null], [[101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136], "collision", [139.8, 11.27, 12.14, 14.33, 16.46, 18.46, 19.38, 19.86, 16.15, 18.06, 18.67, 15.99, 14.22, 15.01, 12.98, 11.93, 20.76, 20.59, 18.7, 14.55, 13.79, 14.03, 14.43, 16.45, 14.63, 11.11, 10.87, 11.22, 12.24, 7.54, 14.47, 16.65, 13.0, 11.72, 11.83, 3.86]], [141, "success", null], [153, "lost_success", null], [154, "success", null], [160, "lost_success", null], [161, "success", null], [162, "lost_success", null], [169, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [174, "success", null], [180, "lost_success", null], [181, "success", null], [183, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 406, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 31, + "init_config_idx": 7, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[37, 38, 39, 40], "collision", [90.24, 94.97, 97.57, 88.96]], [48, "success", null], [56, "lost_success", null], [57, "success", null], [62, "lost_success", null], [73, "success", null], [104, "lost_success", null], [114, "success", null], [[122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [12.71, 21.08, 17.73, 19.57, 21.88, 20.35, 16.82, 15.12, 19.09, 18.88, 18.65, 17.32, 17.77, 17.83, 19.2, 18.82, 19.86, 20.19, 18.31, 17.96, 17.97, 17.46, 17.57]], [145, "lost_success", null], [[145], "collision", [17.83]], [146, "success", null], [[146], "collision", [16.87]], [147, "lost_success", null], [[147, 148], "collision", [15.79, 14.27]], [149, "success", null], [[149, 150, 151, 152], "collision", [15.9, 15.92, 15.3, 3.66]], [153, "lost_success", null], [[153], "collision", [14.48]], [154, "success", null], [[154], "collision", [18.86]], [155, "lost_success", null], [[155], "collision", [13.97]], [156, "success", null], [[156], "collision", [22.96]], [157, "lost_success", null], [[157, 158, 159], "collision", [19.5, 17.61, 14.36]], [160, "success", null], [[160, 161, 163, 164, 165, 166, 167, 168], "collision", [11.17, 13.94, 16.19, 12.03, 8.87, 13.44, 13.37, 15.57]], [169, "lost_success", null], [[169], "collision", [12.05]], [170, "success", null], [[170, 171], "collision", [19.28, 16.03]], [178, "lost_success", null], [180, "success", null], [190, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 407, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 11, + "init_config_idx": 14, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 17, 18, 19, 20, 21, 22, 23, 24, 25], "collision", [397.49, 361.34, 82.93, 383.14, 28.34, 246.35, 503.46, 537.36, 476.46, 390.19]], [26, "contact", null], [27, "grasped", null], [45, "success", null], [57, "lost_success", null], [60, "success", null], [66, "lost_success", null], [83, "success", null], [90, "lost_success", null], [100, "success", null], [119, "lost_success", null], [122, "success", null], [125, "lost_success", null], [126, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 408, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 39, + "init_config_idx": 8, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [40, "success", null], [45, "lost_success", null], [53, "success", null], [54, "lost_success", null], [61, "success", null], [74, "lost_success", null], [88, "success", null], [89, "lost_success", null], [90, "success", null], [95, "lost_success", null], [100, "success", null], [101, "lost_success", null], [102, "success", null], [105, "lost_success", null], [108, "success", null], [132, "lost_success", null], [134, "success", null], [194, "lost_success", null], [195, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 409, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 42, + "init_config_idx": 12, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 20], "collision", [496.14, 369.9]], [21, "contact", null], [[21], "collision", [364.07]], [22, "grasped", null], [[33, 34, 35, 36, 37, 38], "collision", [73.4, 75.3, 79.43, 80.05, 83.28, 74.17]], [48, "success", null], [54, "lost_success", null], [55, "success", null], [135, "lost_success", null], [162, "success", null], [175, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 410, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 20, + "init_config_idx": 32, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [25, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [96, "lost_success", null], [100, "success", null], [101, "lost_success", null], [103, "success", null], [110, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 411, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 2, + "init_config_idx": 38, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [855.73]], [16, "contact", null], [16, "grasped", null], [[20, 21, 22, 23], "collision", [139.72, 334.06, 319.99, 182.71]], [32, "success", null], [72, "lost_success", null], [75, "success", null], [88, "lost_success", null], [89, "success", null], [93, "lost_success", null], [100, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [111, "success", null], [119, "lost_success", null], [124, "success", null], [135, "lost_success", null], [137, "success", null], [174, "lost_success", null], [175, "success", null], [176, "lost_success", null], [177, "success", null], [178, "lost_success", null], [179, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 412, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 31, + "init_config_idx": 37, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [51, "success", null], [55, "lost_success", null], [63, "success", null], [67, "lost_success", null], [[73, 74, 75, 76, 77, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [81.29, 46.31, 57.91, 29.76, 65.73, 12.44, 38.28, 51.48, 41.33, 17.03, 58.03, 33.37, 43.14, 74.43]], [103, "success", null], [110, "lost_success", null], [[115], "collision", [9.5]], [162, "success", null], [180, "lost_success", null], [181, "success", null], [192, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 413, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 17, + "init_config_idx": 26, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "lost_contact", null], [19, "contact", null], [23, "grasped", null], [38, "success", null], [42, "lost_success", null], [43, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [70, "success", null], [71, "lost_success", null], [72, "success", null], [76, "lost_success", null], [87, "success", null], [88, "lost_success", null], [91, "success", null], [102, "lost_success", null], [103, "success", null], [113, "lost_success", null], [115, "success", null], [119, "lost_success", null], [120, "success", null], [126, "lost_success", null], [132, "success", null], [138, "lost_success", null], [139, "success", null], [185, "lost_success", null], [186, "success", null], [187, "lost_success", null], [188, "success", null], [189, "lost_success", null], [191, "success", null], [193, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 414, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 22, + "init_config_idx": 3, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 13, 14, 15, 16, 17], "collision", [2468.03, 275.46, 198.94, 211.18, 217.2, 145.99]], [19, "contact", null], [[19], "collision", [33.28]], [20, "grasped", null], [54, "success", null], [72, "lost_success", null], [[75, 76, 77, 78], "collision", [101.52, 31.0, 209.52, 54.26]], [82, "success", null], [[82, 83, 84], "collision", [6.42, 4.79, 1.39]], [85, "lost_success", null], [92, "success", null], [134, "lost_success", null], [137, "success", null], [139, "lost_success", null], [140, "success", null], [166, "lost_success", null], [170, "success", null], [177, "lost_success", null], [180, "success", null], [182, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 415, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 39, + "init_config_idx": 56, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12], "collision", [1252.73, 117.65, 1787.25, 510.15]], [13, "contact", null], [[13], "collision", [270.95]], [15, "grasped", null], [92, "success", null], [93, "lost_success", null], [96, "success", null], [98, "lost_success", null], [106, "success", null], [108, "lost_success", null], [117, "success", null], [120, "lost_success", null], [121, "success", null], [122, "lost_success", null], [124, "success", null], [125, "lost_success", null], [134, "success", null], [137, "lost_success", null], [146, "success", null], [147, "lost_success", null], [176, "success", null], [177, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 416, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 54, + "init_config_idx": 54, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 11, 12], "collision", [15.35, 159.52, 212.18, 186.37, 162.78, 114.58]], [16, "contact", null], [18, "grasped", null], [34, "success", null], [37, "lost_success", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [43, "lost_success", null], [44, "success", null], [46, "lost_success", null], [50, "success", null], [[54, 55, 56], "collision", [2.92, 13.79, 3.73]], [58, "lost_success", null], [[58, 59, 60, 61, 62, 63, 64, 65, 66, 68, 69], "collision", [40.82, 40.02, 48.61, 56.15, 59.34, 15.33, 46.81, 90.53, 75.11, 29.71, 51.4]], [74, "success", null], [76, "lost_success", null], [81, "success", null], [92, "lost_success", null], [93, "success", null], [95, "lost_success", null], [96, "success", null], [116, "lost_success", null], [120, "success", null], [121, "lost_success", null], [[121], "collision", [70.88]], [122, "success", null], [[122, 123, 124, 125, 126, 127, 128], "collision", [43.35, 74.06, 58.74, 51.14, 49.73, 70.53, 37.46]], [129, "lost_success", null], [[129, 130, 131, 132, 133, 134, 135], "collision", [46.27, 54.15, 48.65, 38.62, 54.17, 72.69, 76.49]], [136, "success", null], [[136, 137], "collision", [77.7, 64.05]], [138, "lost_success", null], [[138, 139, 140, 141], "collision", [57.0, 43.31, 52.23, 63.98]], [142, "success", null], [[142, 143], "collision", [69.69, 63.73]], [144, "lost_success", null], [[144], "collision", [81.94]], [145, "success", null], [[145, 146, 147, 148, 149, 150, 151, 152, 153], "collision", [67.53, 55.34, 51.66, 50.13, 48.1, 48.83, 48.24, 58.53, 50.23]], [158, "lost_success", null], [[158], "collision", [93.11]], [159, "success", null], [[159, 160, 161, 162], "collision", [40.78, 42.79, 33.76, 41.24]], [166, "lost_success", null], [167, "success", null], [168, "lost_success", null], [171, "success", null], [172, "lost_success", null], [177, "success", null], [178, "lost_success", null], [180, "success", null], [183, "lost_success", null], [184, "success", null], [189, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 417, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 58, + "init_config_idx": 4, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [253.28]], [15, "contact", null], [16, "grasped", null], [50, "success", null], [51, "lost_success", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [72, "lost_success", null], [80, "success", null], [91, "lost_success", null], [103, "success", null], [107, "lost_success", null], [144, "success", null], [149, "lost_success", null], [156, "success", null], [164, "lost_success", null], [166, "success", null], [170, "lost_success", null], [171, "success", null], [173, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 418, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 1, + "init_config_idx": 4, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [[29, 30, 31, 32, 34, 35, 36, 37, 38], "collision", [82.61, 86.27, 87.32, 90.5, 43.44, 31.27, 23.27, 23.94, 38.67]], [42, "success", null], [48, "lost_success", null], [49, "success", null], [62, "lost_success", null], [65, "success", null], [135, "lost_success", null], [139, "success", null], [144, "lost_success", null], [153, "success", null], [164, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 419, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 11, + "init_config_idx": 19, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 8, 16, 17, 18, 19], "collision", [531.17, 482.41, 355.48, 246.3, 460.96, 195.53]], [20, "contact", null], [20, "grasped", null], [39, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [55, "success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 91, 92], "collision", [152.96, 53.95, 24.63, 31.13, 20.78, 23.97, 7.12, 15.31, 13.18, 23.71, 17.7, 12.31, 3.27]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 420, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 47, + "init_config_idx": 26, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [24, "success", null], [28, "lost_success", null], [33, "success", null], [34, "lost_success", null], [37, "success", null], [41, "lost_success", null], [65, "success", null], [70, "lost_success", null], [121, "success", null], [133, "lost_success", null], [155, "success", null], [156, "lost_success", null], [160, "success", null], [163, "lost_success", null], [183, "success", null], [187, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 421, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 11, + "init_config_idx": 9, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [1174.46, 215.86, 207.94, 160.53, 79.4]], [14, "contact", null], [14, "grasped", null], [[17, 19], "collision", [17.68, 106.99]], [33, "success", null], [34, "lost_success", null], [35, "success", null], [36, "lost_success", null], [40, "success", null], [43, "lost_success", null], [44, "success", null], [48, "lost_success", null], [49, "success", null], [51, "lost_success", null], [52, "success", null], [54, "lost_success", null], [59, "success", null], [64, "lost_success", null], [65, "success", null], [[78], "collision", [36.94]], [79, "lost_success", null], [[79], "collision", [24.2]], [80, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 99], "collision", [72.41, 63.15, 56.29, 68.2, 62.01, 78.87, 96.02, 132.6, 102.16, 136.82, 67.5, 56.54, 62.35, 54.04, 54.63, 61.51, 54.94, 52.65, 233.91]], [107, "lost_success", null], [111, "success", null], [115, "lost_success", null], [119, "success", null], [143, "lost_success", null], [144, "success", null], [153, "lost_success", null], [164, "success", null], [172, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 422, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 6, + "init_config_idx": 25, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "lost_contact", null], [[24], "collision", [1472.08]], [25, "contact", null], [25, "grasped", null], [57, "success", null], [68, "lost_success", null], [71, "success", null], [72, "lost_success", null], [75, "success", null], [92, "lost_success", null], [140, "success", null], [145, "lost_success", null], [150, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 423, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 48, + "init_config_idx": 3, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [52, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [[65], "collision", [365.57]], [66, "success", null], [[66], "collision", [115.61]], [67, "lost_success", null], [[67], "collision", [238.28]], [68, "success", null], [[68, 69, 70, 71], "collision", [270.08, 186.65, 178.65, 199.02]], [72, "lost_success", null], [[72, 73, 74], "collision", [117.15, 87.67, 73.42]], [75, "success", null], [[75], "collision", [53.21]], [76, "lost_success", null], [[76], "collision", [64.45]], [77, "success", null], [[77, 78, 79], "collision", [54.21, 85.52, 54.57]], [80, "lost_success", null], [[80, 81, 82], "collision", [83.7, 69.84, 49.33]], [83, "success", null], [[83], "collision", [48.32]], [85, "lost_success", null], [[85], "collision", [87.03]], [86, "success", null], [[86, 88], "collision", [37.41, 13.62]], [93, "lost_success", null], [[93], "collision", [6.86]], [94, "success", null], [[94, 97, 98, 99, 100, 108, 109, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 124, 125, 126, 129, 130], "collision", [35.85, 19.95, 40.88, 27.65, 85.38, 243.71, 35.35, 46.36, 55.38, 22.84, 7.37, 60.22, 82.76, 24.28, 77.95, 62.93, 26.15, 0.49, 2.3, 27.36, 33.41, 56.43, 68.69, 40.08]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 424, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 1, + "init_config_idx": 38, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [2245.61]], [16, "contact", null], [16, "grasped", null], [[26, 27, 28, 29, 30], "collision", [116.34, 95.85, 99.74, 102.92, 101.61]], [37, "success", null], [38, "lost_success", null], [40, "success", null], [47, "lost_success", null], [51, "success", null], [122, "lost_success", null], [[122], "collision", [26.66]], [123, "success", null], [[123], "collision", [33.5]], [124, "lost_success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133], "collision", [37.12, 29.39, 28.96, 26.21, 29.92, 43.55, 35.81, 39.28, 15.88, 22.3]], [134, "success", null], [[134, 135, 136, 137, 138, 146, 147], "collision", [19.7, 20.66, 51.94, 23.29, 13.5, 22.16, 18.52]], [148, "lost_success", null], [152, "success", null], [186, "lost_success", null], [188, "success", null], [189, "lost_success", null], [192, "success", null], [193, "lost_success", null], [195, "success", null], [196, "lost_success", null], [198, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 425, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 3, + "init_config_idx": 29, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [[32, 33], "collision", [650.89, 136.65]], [45, "success", null], [89, "lost_success", null], [92, "success", null], [121, "lost_success", null], [125, "success", null], [126, "lost_success", null], [[161, 162], "collision", [75.81, 78.5]], [163, "success", null], [[163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [72.27, 85.67, 88.85, 71.12, 75.61, 65.6, 65.0, 67.88, 86.65, 70.17, 39.14, 39.8]], [175, "lost_success", null], [[175], "collision", [20.38]], [176, "success", null], [[176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192], "collision", [29.14, 25.17, 25.53, 24.08, 23.51, 39.73, 42.6, 52.62, 63.81, 56.69, 41.94, 38.17, 37.94, 28.11, 23.72, 15.17, 0.48]], [195, "lost_success", null], [196, "success", null], [197, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 426, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 1, + "init_config_idx": 14, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [22, "lost_contact", null], [28, "contact", null], [28, "grasped", null], [51, "success", null], [68, "lost_success", null], [[71], "collision", [32.64]], [72, "success", null], [[72], "collision", [33.16]], [73, "lost_success", null], [[73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84], "collision", [36.49, 35.24, 35.81, 33.95, 38.42, 36.59, 40.19, 32.06, 40.97, 35.93, 26.92, 33.69]], [85, "success", null], [[85], "collision", [42.46]], [86, "lost_success", null], [[86, 87, 88, 89, 90, 91, 92, 93], "collision", [40.4, 36.74, 42.03, 40.78, 43.17, 39.54, 32.63, 38.02]], [94, "success", null], [[94, 95, 96], "collision", [22.96, 10.71, 8.45]], [97, "lost_success", null], [[97, 98, 109], "collision", [37.69, 48.52, 6.27]], [110, "success", null], [115, "lost_success", null], [116, "success", null], [118, "lost_success", null], [119, "success", null], [128, "lost_success", null], [145, "success", null], [146, "lost_success", null], [147, "success", null], [149, "lost_success", null], [150, "success", null], [153, "lost_success", null], [156, "success", null], [157, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "success", null], [162, "lost_success", null], [163, "success", null], [189, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 427, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 23, + "init_config_idx": 22, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [1449.69, 212.02]], [14, "contact", null], [16, "grasped", null], [[19, 20], "collision", [173.31, 312.58]], [29, "success", null], [36, "lost_success", null], [37, "success", null], [41, "lost_success", null], [42, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [57, "lost_success", null], [60, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [70, "success", null], [78, "lost_success", null], [81, "success", null], [82, "lost_success", null], [83, "success", null], [84, "lost_success", null], [85, "success", null], [90, "lost_success", null], [92, "success", null], [93, "lost_success", null], [96, "success", null], [97, "lost_success", null], [98, "success", null], [101, "lost_success", null], [102, "success", null], [112, "lost_success", null], [139, "success", null], [146, "lost_success", null], [152, "success", null], [179, "lost_success", null], [180, "success", null], [182, "lost_success", null], [187, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 428, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 37, + "init_config_idx": 41, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "lost_contact", null], [17, "contact", null], [17, "grasped", null], [[21, 22, 23, 24], "collision", [66.78, 311.45, 304.02, 145.01]], [32, "success", null], [41, "lost_success", null], [43, "success", null], [55, "lost_success", null], [64, "success", null], [90, "lost_success", null], [98, "success", null], [106, "lost_success", null], [112, "success", null], [120, "lost_success", null], [134, "success", null], [135, "lost_success", null], [[184, 185, 186, 187, 188], "collision", [184.81, 43.43, 58.04, 22.82, 47.55]], [189, "success", null], [[189, 190], "collision", [67.37, 105.6]], [191, "lost_success", null], [[191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [118.22, 136.2, 145.79, 118.58, 125.52, 129.04, 143.33, 93.82, 80.45]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 429, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 0, + "init_config_idx": 24, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [39, "success", null], [44, "lost_success", null], [48, "success", null], [51, "lost_success", null], [52, "success", null], [54, "lost_success", null], [55, "success", null], [59, "lost_success", null], [[59], "collision", [73.47]], [60, "success", null], [[60, 61, 62, 63, 64, 65, 66, 67], "collision", [105.11, 120.95, 129.54, 148.02, 93.04, 93.75, 95.83, 116.09]], [68, "lost_success", null], [[68, 69], "collision", [74.05, 57.17]], [70, "success", null], [[70, 71, 72, 73, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 93, 94], "collision", [45.64, 55.66, 55.41, 11.85, 3.25, 109.46, 85.8, 39.69, 47.36, 63.74, 59.59, 91.48, 73.73, 80.08, 58.67, 30.66, 0.38, 11.34, 7.76, 12.06]], [117, "lost_success", null], [127, "success", null], [149, "lost_success", null], [161, "success", null], [166, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null], [195, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 430, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 45, + "init_config_idx": 13, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [39, "success", null], [48, "lost_success", null], [58, "success", null], [63, "lost_success", null], [64, "success", null], [67, "lost_success", null], [76, "success", null], [93, "lost_success", null], [109, "success", null], [122, "lost_success", null], [146, "success", null], [188, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 431, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 47, + "init_config_idx": 0, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[20, 21], "collision", [102.33, 147.14]], [32, "success", null], [34, "lost_success", null], [41, "success", null], [44, "lost_success", null], [45, "success", null], [59, "lost_success", null], [63, "success", null], [65, "lost_success", null], [[87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106], "collision", [0.05, 0.05, 0.05, 0.05, 0.03, 0.04, 0.07, 0.08, 0.08, 0.08, 0.08, 0.08, 0.07, 0.08, 0.08, 0.05, 0.06, 0.06, 0.06, 0.06]], [107, "success", null], [[107, 108, 109, 110, 111, 112, 113, 121, 122, 123], "collision", [0.06, 0.06, 0.05, 0.05, 0.06, 0.06, 0.05, 0.04, 0.04, 0.11]], [124, "lost_success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.06, 0.06, 0.06, 0.06, 0.05, 0.08, 0.05, 0.06, 0.07, 0.08, 0.07, 0.08, 0.07, 0.08, 0.06, 0.06, 0.06, 0.07, 0.06, 0.08, 0.07, 0.07, 0.08, 0.08, 0.07, 0.07, 0.07, 0.06, 0.07, 0.08, 0.06, 0.07, 0.07, 0.07, 0.06, 0.05, 0.06, 0.07, 0.08, 0.07, 0.08, 0.06, 0.05, 0.06, 0.06, 0.05, 0.06, 0.05, 0.06, 0.06, 0.08, 0.05, 0.07, 0.07, 0.06, 0.09, 0.06, 0.06, 0.06, 0.07, 0.08, 0.06, 0.07, 0.05, 0.07, 0.05, 0.05, 0.06, 0.06, 0.07, 0.04, 0.07, 0.08, 0.1, 0.06, 0.07]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 432, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 38, + "init_config_idx": 4, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [[26], "collision", [19.93]], [31, "success", null], [51, "lost_success", null], [57, "success", null], [118, "lost_success", null], [119, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 433, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 28, + "init_config_idx": 19, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 15, 16, 23, 24, 25, 28], "collision", [325.91, 212.92, 427.04, 7.4, 124.78, 167.83, 2.84, 25.98, 1.09]], [29, "contact", null], [[29, 30, 31, 32, 33, 34], "collision", [134.44, 248.91, 316.29, 213.93, 199.14, 141.75]], [35, "lost_contact", null], [[35], "collision", [219.7]], [36, "contact", null], [[36], "collision", [95.22]], [37, "lost_contact", null], [[37, 38], "collision", [94.4, 50.12]], [39, "contact", null], [[39], "collision", [87.04]], [40, "lost_contact", null], [[40, 41, 42, 43], "collision", [159.51, 236.06, 177.58, 142.49]], [44, "contact", null], [[44, 45, 46, 47], "collision", [80.13, 31.4, 0.62, 0.52]], [49, "grasped", null], [65, "success", null], [67, "lost_success", null], [69, "success", null], [77, "lost_success", null], [79, "success", null], [[80, 81, 82, 83, 84, 85], "collision", [18.57, 22.59, 22.81, 27.35, 23.76, 30.08]], [86, "lost_success", null], [[86, 87, 88], "collision", [36.26, 18.95, 20.24]], [89, "success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 109, 110, 111], "collision", [3.81, 5.02, 2.37, 3.36, 5.14, 8.34, 1.73, 2.1, 1.2, 0.89, 0.03, 0.03, 0.03]], [112, "lost_success", null], [116, "success", null], [[117, 118, 119, 120], "collision", [0.0, 0.02, 0.03, 0.02]], [127, "lost_success", null], [129, "success", null], [[129, 131, 132], "collision", [43.29, 16.53, 23.76]], [133, "lost_success", null], [[133], "collision", [3.69]], [134, "success", null], [[137, 138, 139], "collision", [34.0, 30.05, 8.92]], [144, "lost_success", null], [[145], "collision", [87.05]], [148, "success", null], [[152], "collision", [25.44]], [153, "lost_success", null], [155, "success", null], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "success", null], [164, "lost_success", null], [165, "success", null], [181, "lost_success", null], [183, "success", null], [[186, 187, 188, 191, 192, 193, 194, 195, 196, 197], "collision", [5.9, 12.84, 11.04, 37.03, 7.69, 19.27, 26.24, 22.26, 18.47, 6.46]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 434, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 39, + "init_config_idx": 28, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12], "collision", [2035.93, 237.74, 160.89]], [15, "contact", null], [19, "grasped", null], [[23, 24], "collision", [462.93, 291.07]], [33, "success", null], [38, "lost_success", null], [40, "success", null], [44, "lost_success", null], [48, "success", null], [52, "lost_success", null], [55, "success", null], [62, "lost_success", null], [63, "success", null], [72, "lost_success", null], [74, "success", null], [75, "lost_success", null], [76, "success", null], [103, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 435, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 36, + "init_config_idx": 32, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [25, "grasped", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [50, "lost_success", null], [54, "success", null], [92, "lost_success", null], [115, "success", null], [116, "lost_success", null], [122, "success", null], [135, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 436, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 34, + "init_config_idx": 29, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [43, "success", null], [46, "lost_success", null], [47, "success", null], [66, "lost_success", null], [73, "success", null], [84, "lost_success", null], [89, "success", null], [93, "lost_success", null], [188, "success", null], [190, "lost_success", null], [191, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 437, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 19, + "init_config_idx": 10, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "lost_contact", null], [50, "contact", null], [51, "grasped", null], [102, "success", null], [105, "lost_success", null], [106, "success", null], [117, "lost_success", null], [118, "success", null], [121, "lost_success", null], [124, "success", null], [139, "lost_success", null], [142, "success", null], [182, "lost_success", null], [183, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 438, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 52, + "init_config_idx": 21, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "lost_contact", null], [25, "contact", null], [26, "lost_contact", null], [28, "contact", null], [29, "grasped", null], [[30, 31, 47, 48, 49], "collision", [109.05, 23.0, 7.82, 1.77, 3.68]], [50, "success", null], [[50, 51, 52, 53, 54, 55], "collision", [0.79, 1.21, 1.23, 1.13, 0.96, 0.7]], [56, "lost_success", null], [[56], "collision", [0.89]], [57, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65], "collision", [0.86, 1.01, 1.51, 0.91, 1.03, 0.96, 2.03, 1.21, 1.07]], [66, "lost_success", null], [[66, 67], "collision", [0.79, 1.05]], [68, "success", null], [[68], "collision", [0.83]], [69, "lost_success", null], [80, "success", null], [81, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [96, "lost_success", null], [97, "success", null], [108, "lost_success", null], [112, "success", null], [115, "lost_success", null], [118, "success", null], [119, "lost_success", null], [120, "success", null], [[122, 123, 124, 128], "collision", [22.2, 49.95, 45.02, 41.67]], [138, "lost_success", null], [142, "success", null], [149, "lost_success", null], [[151, 152, 153, 154, 155, 157, 158, 159, 160, 161, 162, 163], "collision", [27.15, 30.81, 30.53, 43.42, 30.19, 11.01, 25.59, 17.41, 18.9, 13.27, 26.96, 22.73]], [168, "success", null], [[179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 199], "collision", [15.72, 68.46, 6.98, 116.2, 137.63, 128.75, 82.92, 113.46, 115.63, 113.15, 194.7, 138.2, 320.45, 193.24, 433.34]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 439, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 39, + "init_config_idx": 37, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [318.07, 214.56, 254.68, 432.29]], [17, "contact", null], [17, "grasped", null], [[17], "collision", [1031.59]], [32, "success", null], [48, "lost_success", null], [49, "success", null], [54, "lost_success", null], [55, "success", null], [62, "lost_success", null], [64, "success", null], [75, "lost_success", null], [80, "success", null], [82, "lost_success", null], [83, "success", null], [95, "lost_success", null], [96, "success", null], [112, "lost_success", null], [115, "success", null], [116, "lost_success", null], [118, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [151, "success", null], [154, "lost_success", null], [180, "success", null], [189, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 440, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 58, + "init_config_idx": 13, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [[29, 30], "collision", [69.88, 64.39]], [37, "success", null], [80, "lost_success", null], [81, "success", null], [104, "lost_success", null], [112, "success", null], [119, "lost_success", null], [123, "success", null], [129, "lost_success", null], [136, "success", null], [147, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 441, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 12, + "init_config_idx": 32, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19], "collision", [247.47, 598.11]], [20, "contact", null], [[20], "collision", [141.82]], [21, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [[26, 27], "collision", [65.66, 80.79]], [50, "success", null], [57, "lost_success", null], [70, "success", null], [72, "lost_success", null], [73, "success", null], [75, "lost_success", null], [76, "success", null], [85, "lost_success", null], [87, "success", null], [109, "lost_success", null], [110, "success", null], [130, "lost_success", null], [131, "success", null], [141, "lost_success", null], [162, "success", null], [171, "lost_success", null], [177, "success", null], [178, "lost_success", null], [180, "success", null], [181, "lost_success", null], [182, "success", null], [183, "lost_success", null], [185, "success", null], [186, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 442, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 53, + "init_config_idx": 21, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[26, 27, 28, 29], "collision", [24.64, 63.26, 208.23, 228.42]], [40, "success", null], [[40], "collision", [0.31]], [41, "lost_success", null], [54, "success", null], [93, "lost_success", null], [103, "success", null], [104, "lost_success", null], [[121, 122, 123, 124, 125, 126], "collision", [0.83, 0.19, 0.09, 0.09, 0.15, 0.11]], [127, "success", null], [[127, 128, 129, 130, 131, 132, 133], "collision", [0.14, 0.09, 0.1, 0.1, 0.11, 0.08, 0.06]], [144, "lost_success", null], [[144, 145, 146], "collision", [0.18, 0.12, 0.07]], [147, "success", null], [[147, 148], "collision", [0.06, 0.07]], [149, "lost_success", null], [[149], "collision", [0.2]], [150, "success", null], [[150, 151], "collision", [0.13, 0.13]], [152, "lost_success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183], "collision", [0.13, 0.14, 0.35, 0.3, 0.27, 0.27, 0.28, 0.25, 0.23, 0.17, 0.16, 0.17, 0.15, 0.13, 0.14, 0.17, 0.17, 0.17, 0.18, 0.18, 0.16, 0.16, 0.18, 0.16, 0.17, 0.23, 0.29, 0.29, 0.41, 0.49, 0.43, 0.43]], [184, "success", null], [[184, 185, 186, 187, 188, 189, 190, 191, 192], "collision", [0.44, 0.42, 0.4, 0.38, 0.28, 0.28, 0.19, 0.2, 0.25]], [193, "lost_success", null], [[193, 194, 195, 196, 197, 198], "collision", [0.25, 0.57, 0.59, 0.59, 0.51, 0.38]], [199, "success", null], [[199], "collision", [0.4]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 443, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 44, + "init_config_idx": 20, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [38, "success", null], [56, "lost_success", null], [59, "success", null], [103, "lost_success", null], [104, "success", null], [110, "lost_success", null], [111, "success", null], [119, "lost_success", null], [[122, 123, 124], "collision", [31.2, 97.09, 92.76]], [125, "success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136], "collision", [87.96, 87.87, 76.69, 58.48, 75.06, 61.76, 33.33, 38.39, 30.71, 39.33, 43.07, 29.38]], [137, "lost_success", null], [[137], "collision", [23.31]], [138, "success", null], [[138], "collision", [35.0]], [139, "lost_success", null], [[139], "collision", [34.19]], [140, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149], "collision", [18.42, 19.33, 14.68, 16.29, 5.67, 14.21, 14.92, 11.78, 5.92, 6.91]], [170, "lost_success", null], [171, "success", null], [172, "lost_success", null], [173, "success", null], [174, "lost_success", null], [176, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 444, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 6, + "init_config_idx": 19, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [18, "grasped", null], [[27], "collision", [444.85]], [35, "success", null], [39, "lost_success", null], [41, "success", null], [48, "lost_success", null], [49, "success", null], [51, "lost_success", null], [55, "success", null], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [67, "success", null], [71, "lost_success", null], [86, "success", null], [90, "lost_success", null], [165, "success", null], [177, "lost_success", null], [195, "success", null], [198, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 445, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 26, + "init_config_idx": 10, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 12], "collision", [297.36, 159.74, 0.33]], [13, "contact", null], [13, "grasped", null], [26, "success", null], [34, "lost_success", null], [37, "success", null], [49, "lost_success", null], [50, "success", null], [71, "lost_success", null], [78, "success", null], [84, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [90, "lost_success", null], [97, "success", null], [100, "lost_success", null], [101, "success", null], [104, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 446, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 20, + "init_config_idx": 22, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16, 17], "collision", [294.77, 732.04, 488.44, 54.95, 237.69, 184.5]], [19, "contact", null], [20, "grasped", null], [[34], "collision", [0.02]], [36, "success", null], [40, "lost_success", null], [[42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [0.17, 0.16, 0.11, 0.11, 0.1, 0.07, 0.09, 0.06, 0.11, 0.05, 0.11, 0.05, 0.11, 0.07, 0.08, 0.07, 0.1, 0.07, 0.05, 0.07, 0.05, 0.19, 0.06, 0.05, 0.07, 0.06, 0.06, 0.04]], [70, "success", null], [[70], "collision", [0.05]], [71, "lost_success", null], [[71], "collision", [0.07]], [72, "success", null], [[72, 73, 74, 75], "collision", [0.05, 0.07, 0.07, 0.05]], [85, "lost_success", null], [[85, 86], "collision", [0.14, 0.1]], [87, "success", null], [[87, 88, 89, 90, 91, 92, 93], "collision", [0.08, 0.07, 0.06, 0.21, 0.16, 0.26, 0.06]], [147, "lost_success", null], [150, "success", null], [157, "lost_success", null], [160, "success", null], [182, "lost_success", null], [183, "success", null], [186, "lost_success", null], [187, "success", null], [197, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 447, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 20, + "init_config_idx": 22, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[19, 20, 21, 23], "collision", [125.18, 241.55, 135.83, 4.61]], [37, "success", null], [39, "lost_success", null], [62, "success", null], [107, "lost_success", null], [115, "success", null], [163, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 448, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 9, + "init_config_idx": 1, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [25, "grasped", null], [[25], "collision", [24.27]], [54, "success", null], [55, "lost_success", null], [57, "success", null], [58, "lost_success", null], [59, "success", null], [72, "lost_success", null], [88, "success", null], [150, "lost_success", null], [151, "success", null], [178, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 449, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 34, + "init_config_idx": 7, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8], "collision", [371.32, 261.26, 227.87, 114.9]], [11, "contact", null], [12, "lost_contact", null], [13, "contact", null], [13, "grasped", null], [[13, 16, 17, 19], "collision", [0.22, 353.47, 304.78, 0.17]], [27, "success", null], [28, "lost_success", null], [[31, 32, 33, 34, 35], "collision", [17.46, 0.88, 1.23, 1.16, 1.18]], [36, "success", null], [[36], "collision", [1.19]], [37, "lost_success", null], [[37], "collision", [1.18]], [38, "success", null], [[38, 39, 40, 41, 42, 43, 44, 45], "collision", [1.18, 1.18, 1.18, 1.18, 1.19, 1.18, 1.18, 1.17]], [46, "lost_success", null], [[46, 47, 48], "collision", [1.18, 1.18, 1.18]], [49, "success", null], [[49, 50], "collision", [1.18, 1.18]], [51, "lost_success", null], [[51], "collision", [1.18]], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18]], [64, "lost_success", null], [[64, 65, 66, 67], "collision", [1.18, 1.18, 1.18, 1.18]], [68, "success", null], [[68, 69], "collision", [1.18, 1.18]], [70, "lost_success", null], [[70, 71, 72, 73], "collision", [1.18, 1.18, 1.18, 1.18]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18]], [81, "lost_success", null], [[81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18]], [94, "success", null], [[94], "collision", [1.18]], [95, "lost_success", null], [[95, 96], "collision", [1.18, 1.18]], [97, "success", null], [[97, 98, 99, 100, 101, 102, 103], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18]], [104, "lost_success", null], [[104], "collision", [1.18]], [105, "success", null], [[105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18]], [117, "lost_success", null], [[117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.17, 1.17, 63.71, 1.18, 1.18, 1.17, 1.18, 1.18]], [168, "success", null], [[168, 169, 170], "collision", [1.18, 1.17, 1.18]], [171, "lost_success", null], [[171], "collision", [1.18]], [172, "success", null], [[172, 173, 174, 175, 176, 177], "collision", [1.18, 1.18, 1.17, 1.17, 1.18, 1.18]], [178, "lost_success", null], [[178], "collision", [1.18]], [179, "success", null], [[179], "collision", [1.18]], [180, "lost_success", null], [[180], "collision", [1.18]], [181, "success", null], [[181, 182, 183], "collision", [1.18, 1.18, 1.18]], [184, "lost_success", null], [[184], "collision", [1.18]], [185, "success", null], [[185, 186, 187, 188, 189, 190, 191, 192], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18]], [193, "lost_success", null], [[193], "collision", [1.18]], [194, "success", null], [[194, 195, 196, 197, 198, 199], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 450, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 33, + "init_config_idx": 12, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [25, "lost_contact", null], [58, "contact", null], [60, "grasped", null], [94, "success", null], [96, "lost_success", null], [99, "success", null], [100, "lost_success", null], [103, "success", null], [115, "lost_success", null], [116, "success", null], [122, "lost_success", null], [123, "success", null], [144, "lost_success", null], [146, "success", null], [152, "lost_success", null], [153, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 451, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 37, + "init_config_idx": 53, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16, 17, 18, 21, 22, 23, 24], "collision", [285.1, 103.34, 294.46, 301.04, 218.67, 190.95, 5.87, 167.72, 34.89, 72.66, 93.73]], [25, "contact", null], [[25, 26, 27, 28], "collision", [56.35, 85.7, 46.96, 29.55]], [29, "lost_contact", null], [30, "contact", null], [30, "grasped", null], [[44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55], "collision", [0.2, 0.33, 0.25, 0.3, 0.31, 0.28, 0.25, 0.35, 0.49, 0.4, 0.34, 0.31]], [56, "success", null], [[56], "collision", [0.33]], [57, "lost_success", null], [[57], "collision", [0.48]], [58, "success", null], [[58], "collision", [0.22]], [59, "lost_success", null], [[59], "collision", [0.15]], [60, "success", null], [64, "lost_success", null], [66, "success", null], [78, "lost_success", null], [81, "success", null], [139, "lost_success", null], [140, "success", null], [170, "lost_success", null], [171, "success", null], [[176, 177, 178, 179, 180, 181, 182, 183, 184, 192, 193, 194, 195, 196, 197], "collision", [0.11, 0.34, 0.84, 0.86, 0.34, 1.33, 0.09, 0.06, 0.08, 0.72, 0.55, 0.85, 0.57, 0.12, 0.23]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 452, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 2, + "init_config_idx": 6, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[31, 32, 33, 34, 35], "collision", [71.18, 95.74, 96.02, 89.18, 93.01]], [41, "success", null], [47, "lost_success", null], [48, "success", null], [51, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [98, "lost_success", null], [111, "success", null], [116, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 453, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 14, + "init_config_idx": 2, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16], "collision", [461.61, 221.37, 159.67]], [18, "contact", null], [21, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [48, "lost_success", null], [50, "success", null], [77, "lost_success", null], [78, "success", null], [[78, 79], "collision", [51.25, 72.47]], [80, "lost_success", null], [[80, 81], "collision", [70.97, 52.02]], [82, "success", null], [[82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 114, 115, 116], "collision", [52.44, 45.92, 51.84, 49.84, 64.1, 54.02, 42.44, 39.91, 35.39, 33.75, 33.42, 27.48, 30.98, 37.97, 30.16, 29.8, 30.69, 36.15, 30.35, 39.24, 30.15, 19.71, 24.31, 41.08, 26.17, 34.95, 11.58, 15.36, 19.49, 41.34, 28.06, 41.45, 42.21, 75.06]], [117, "lost_success", null], [[117, 119, 120], "collision", [104.38, 105.22, 47.89]], [123, "success", null], [[123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154], "collision", [46.77, 45.71, 63.7, 41.97, 13.91, 15.19, 19.99, 5.12, 26.24, 30.24, 19.54, 49.71, 18.59, 33.6, 41.91, 36.88, 36.94, 65.76, 53.51, 47.04, 37.9, 51.77, 71.82, 87.92, 122.55, 81.58, 65.81, 67.37, 86.03, 143.62, 136.24, 112.46]], [155, "lost_success", null], [156, "success", null], [[156], "collision", [37.72]], [157, "lost_success", null], [158, "success", null], [[158, 159], "collision", [23.28, 28.75]], [160, "lost_success", null], [[161, 165], "collision", [47.8, 31.72]], [166, "success", null], [[166, 167, 168, 169], "collision", [39.71, 47.98, 42.0, 35.82]], [170, "lost_success", null], [[170, 174], "collision", [26.72, 67.13]], [175, "success", null], [177, "lost_success", null], [181, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 454, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 48, + "init_config_idx": 25, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 9], "collision", [1904.44, 358.22, 283.86, 185.24, 163.03, 236.27]], [13, "contact", null], [15, "lost_contact", null], [16, "contact", null], [[18], "collision", [51.89]], [19, "lost_contact", null], [[19], "collision", [71.32]], [27, "contact", null], [27, "grasped", null], [38, "success", null], [49, "lost_success", null], [50, "success", null], [90, "lost_success", null], [91, "success", null], [97, "lost_success", null], [98, "success", null], [102, "lost_success", null], [107, "success", null], [125, "lost_success", null], [127, "success", null], [128, "lost_success", null], [138, "success", null], [141, "lost_success", null], [145, "success", null], [185, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 455, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 42, + "init_config_idx": 22, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 19, 20], "collision", [371.13, 206.78, 1081.52, 3079.3]], [22, "contact", null], [22, "grasped", null], [[23], "collision", [15.05]], [40, "success", null], [51, "lost_success", null], [75, "success", null], [81, "lost_success", null], [102, "success", null], [103, "lost_success", null], [105, "success", null], [108, "lost_success", null], [111, "success", null], [121, "lost_success", null], [128, "success", null], [137, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 456, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 11, + "init_config_idx": 31, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[31, 32, 33, 34, 35, 36], "collision", [364.78, 97.69, 92.48, 86.59, 92.64, 90.18]], [42, "success", null], [51, "lost_success", null], [58, "success", null], [63, "lost_success", null], [67, "success", null], [84, "lost_success", null], [89, "success", null], [117, "lost_success", null], [[138, 139, 140, 141, 142, 144], "collision", [6.16, 71.17, 73.73, 16.81, 30.62, 37.7]], [176, "success", null], [177, "lost_success", null], [178, "success", null], [183, "lost_success", null], [190, "success", null], [193, "lost_success", null], [194, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 457, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 21, + "init_config_idx": 16, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [38, "success", null], [39, "lost_success", null], [52, "success", null], [53, "lost_success", null], [59, "success", null], [65, "lost_success", null], [66, "success", null], [81, "lost_success", null], [151, "success", null], [155, "lost_success", null], [156, "success", null], [168, "lost_success", null], [175, "success", null], [194, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 458, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 45, + "init_config_idx": 7, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22, 23, 24, 25], "collision", [281.31, 210.41, 238.03, 228.8]], [26, "contact", null], [[26], "collision", [72.55]], [28, "grasped", null], [47, "success", null], [48, "lost_success", null], [60, "success", null], [87, "lost_success", null], [91, "success", null], [123, "lost_success", null], [167, "success", null], [173, "lost_success", null], [176, "success", null], [180, "lost_success", null], [185, "success", null], [188, "lost_success", null], [189, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 459, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 9, + "init_config_idx": 21, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "lost_contact", null], [20, "contact", null], [21, "grasped", null], [[27], "collision", [22.65]], [39, "success", null], [[40, 41, 42], "collision", [0.35, 1.22, 1.19]], [43, "lost_success", null], [[43, 44, 45], "collision", [1.1, 1.01, 1.04]], [46, "success", null], [[46, 47, 48, 49, 50], "collision", [0.93, 0.97, 0.99, 0.85, 0.82]], [51, "lost_success", null], [[51], "collision", [0.84]], [52, "success", null], [[56, 57], "collision", [1.19, 1.18]], [58, "lost_success", null], [[58, 59, 60, 61], "collision", [0.99, 1.06, 1.79, 0.82]], [62, "success", null], [[62, 63, 64, 65, 66], "collision", [0.92, 0.98, 0.92, 0.87, 0.86]], [69, "lost_success", null], [77, "success", null], [99, "lost_success", null], [108, "success", null], [113, "lost_success", null], [114, "success", null], [127, "lost_success", null], [193, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 460, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 19, + "init_config_idx": 8, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [25, "grasped", null], [[37, 38, 39, 40, 41, 42], "collision", [88.6, 94.42, 86.61, 83.69, 83.06, 74.68]], [47, "success", null], [56, "lost_success", null], [57, "success", null], [59, "lost_success", null], [60, "success", null], [134, "lost_success", null], [136, "success", null], [177, "lost_success", null], [178, "success", null], [180, "lost_success", null], [189, "success", null], [190, "lost_success", null], [194, "success", null], [195, "lost_success", null], [196, "success", null], [198, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 461, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 38, + "init_config_idx": 17, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [24, "success", null], [29, "lost_success", null], [30, "success", null], [33, "lost_success", null], [47, "success", null], [100, "lost_success", null], [[111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126], "collision", [46.22, 38.26, 41.53, 54.62, 62.1, 38.79, 49.31, 51.2, 47.31, 44.45, 35.06, 33.62, 45.21, 34.46, 17.73, 11.55]], [128, "success", null], [133, "lost_success", null], [[151, 152, 153, 156, 157], "collision", [35.26, 13.1, 15.42, 8.87, 4.73]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 462, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 24, + "init_config_idx": 32, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [797.97, 169.82, 157.25, 250.59]], [12, "contact", null], [16, "grasped", null], [27, "success", null], [36, "lost_success", null], [37, "success", null], [[39, 40, 41, 42], "collision", [214.62, 183.38, 225.64, 231.93]], [43, "lost_success", null], [[43], "collision", [247.77]], [44, "success", null], [[44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [269.13, 263.67, 257.71, 203.39, 148.07, 119.28, 118.85, 94.0, 91.08, 102.61, 72.16]], [61, "lost_success", null], [63, "success", null], [[64], "collision", [19.17]], [65, "lost_success", null], [[65, 66], "collision", [16.24, 12.27]], [71, "success", null], [74, "lost_success", null], [80, "success", null], [104, "lost_success", null], [106, "success", null], [135, "lost_success", null], [138, "success", null], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 463, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 41, + "init_config_idx": 16, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [830.51, 116.21]], [21, "contact", null], [21, "grasped", null], [50, "success", null], [52, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [66, "success", null], [67, "lost_success", null], [70, "success", null], [71, "lost_success", null], [79, "success", null], [118, "lost_success", null], [120, "success", null], [139, "lost_success", null], [140, "success", null], [146, "lost_success", null], [153, "success", null], [173, "lost_success", null], [174, "success", null], [177, "lost_success", null], [179, "success", null], [192, "lost_success", null], [193, "success", null], [195, "lost_success", null], [196, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 464, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 26, + "init_config_idx": 18, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [53.33, 74.54, 168.42]], [14, "contact", null], [14, "grasped", null], [29, "success", null], [32, "lost_success", null], [33, "success", null], [35, "lost_success", null], [38, "success", null], [41, "lost_success", null], [43, "success", null], [[107, 108, 109, 110, 112, 113, 117, 119, 120, 121, 122, 123, 125], "collision", [18.98, 8.57, 12.6, 39.0, 12.51, 3.41, 19.38, 20.51, 28.64, 22.49, 29.4, 14.62, 15.34]], [126, "lost_success", null], [[126, 127, 128], "collision", [21.45, 13.67, 13.28]], [131, "success", null], [133, "lost_success", null], [[133], "collision", [32.33]], [134, "success", null], [[134, 135, 136, 137, 138, 139, 141, 142, 143, 144, 145], "collision", [53.75, 83.82, 83.82, 100.93, 87.68, 126.22, 75.8, 122.41, 141.95, 110.37, 51.96]], [151, "lost_success", null], [153, "success", null], [[153], "collision", [17.93]], [154, "lost_success", null], [[154], "collision", [56.08]], [155, "success", null], [[157], "collision", [25.38]], [158, "lost_success", null], [[158], "collision", [44.13]], [159, "success", null], [[159], "collision", [104.13]], [168, "lost_success", null], [169, "success", null], [170, "lost_success", null], [172, "success", null], [[172, 173, 174, 175], "collision", [30.34, 84.22, 93.61, 46.55]], [176, "lost_success", null], [[176], "collision", [86.87]], [177, "success", null], [[177, 178, 179], "collision", [43.0, 67.02, 26.08]], [180, "lost_success", null], [181, "success", null], [182, "lost_success", null], [[182], "collision", [11.67]], [183, "success", null], [[183], "collision", [20.36]], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [[192], "collision", [59.66]], [194, "success", null], [198, "lost_success", null], [[198], "collision", [218.92]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 465, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 10, + "init_config_idx": 48, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [652.67, 139.64, 106.46]], [16, "contact", null], [16, "grasped", null], [[21, 22], "collision", [353.89, 268.33]], [30, "success", null], [42, "lost_success", null], [44, "success", null], [47, "lost_success", null], [48, "success", null], [50, "lost_success", null], [51, "success", null], [54, "lost_success", null], [55, "success", null], [78, "lost_success", null], [82, "success", null], [87, "lost_success", null], [91, "success", null], [103, "lost_success", null], [108, "success", null], [132, "lost_success", null], [134, "success", null], [196, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 466, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 22, + "init_config_idx": 5, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [325.14, 0.85]], [16, "contact", null], [[17], "collision", [0.94]], [18, "grasped", null], [36, "success", null], [37, "lost_success", null], [38, "success", null], [47, "lost_success", null], [49, "success", null], [50, "lost_success", null], [[51, 52], "collision", [4.95, 37.54]], [53, "success", null], [[55, 56, 57], "collision", [26.69, 34.35, 50.61]], [58, "lost_success", null], [59, "success", null], [[59, 60], "collision", [58.3, 22.28]], [61, "lost_success", null], [[61], "collision", [40.24]], [62, "success", null], [[62, 63, 64, 65], "collision", [17.89, 40.12, 67.53, 51.92]], [66, "lost_success", null], [[66], "collision", [57.04]], [67, "success", null], [[67, 68, 69, 70], "collision", [51.19, 59.94, 38.88, 31.96]], [71, "lost_success", null], [72, "success", null], [[72, 73, 74], "collision", [32.12, 28.45, 30.56]], [75, "lost_success", null], [[75, 76, 77, 78, 79], "collision", [34.06, 36.05, 23.09, 11.9, 9.12]], [84, "success", null], [85, "lost_success", null], [87, "success", null], [[132, 134, 135, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149], "collision", [28.55, 17.48, 12.1, 14.57, 12.1, 19.72, 14.86, 21.19, 23.86, 27.51, 22.99, 25.84, 10.13, 18.8, 19.85, 10.62]], [150, "lost_success", null], [[150, 151], "collision", [15.9, 2.26]], [155, "success", null], [160, "lost_success", null], [[163, 164, 165], "collision", [68.07, 83.64, 87.93]], [166, "success", null], [[166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [79.38, 98.3, 86.02, 93.23, 106.38, 105.92, 71.95, 87.2, 77.92, 58.4, 51.99, 39.37, 47.17, 35.19, 30.9, 39.83, 47.11, 61.79, 67.81, 66.53, 84.26, 94.65, 90.12, 89.02, 76.9, 62.3, 68.72, 29.05, 54.5, 47.77, 36.33, 32.46, 44.96]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 467, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 16, + "init_config_idx": 17, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[28, 29, 30], "collision", [77.06, 85.42, 81.21]], [43, "success", null], [44, "lost_success", null], [45, "success", null], [46, "lost_success", null], [51, "success", null], [61, "lost_success", null], [65, "success", null], [[73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84], "collision", [72.78, 37.67, 97.11, 117.92, 155.55, 227.28, 83.22, 148.48, 146.06, 106.56, 166.64, 87.63]], [86, "lost_success", null], [[86], "collision", [205.46]], [87, "success", null], [[87, 88, 89, 90, 91, 94, 96, 107, 108, 109, 110, 111, 112, 113], "collision", [57.49, 173.39, 6.7, 8.44, 13.57, 12.13, 73.27, 64.85, 67.25, 60.5, 74.59, 76.12, 44.36, 52.32]], [119, "lost_success", null], [131, "success", null], [135, "lost_success", null], [136, "success", null], [139, "lost_success", null], [140, "success", null], [141, "lost_success", null], [154, "success", null], [155, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 468, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 15, + "init_config_idx": 1, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [130.82]], [23, "contact", null], [24, "lost_contact", null], [[24], "collision", [11.96]], [26, "contact", null], [26, "grasped", null], [[30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [6.04, 3.19, 3.28, 3.12, 3.03, 3.14, 3.53, 3.8, 3.77, 3.4, 3.7, 3.49, 3.18, 3.84, 3.78, 3.76, 3.45, 3.83, 3.85, 2.83, 3.43, 3.58]], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58], "collision", [3.38, 3.3, 3.39, 3.36, 3.64, 3.47, 3.51]], [59, "lost_success", null], [[59], "collision", [3.67]], [60, "success", null], [[60], "collision", [3.5]], [61, "lost_success", null], [[61, 62, 63], "collision", [3.45, 3.59, 3.43]], [65, "success", null], [69, "lost_success", null], [[70], "collision", [761.56]], [72, "success", null], [77, "lost_success", null], [99, "success", null], [104, "lost_success", null], [105, "success", null], [109, "lost_success", null], [126, "success", null], [132, "lost_success", null], [140, "success", null], [151, "lost_success", null], [160, "success", null], [161, "lost_success", null], [168, "success", null], [169, "lost_success", null], [174, "success", null], [175, "lost_success", null], [176, "success", null], [177, "lost_success", null], [181, "success", null], [188, "lost_success", null], [190, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 469, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 4, + "init_config_idx": 40, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[23], "collision", [0.59]], [50, "success", null], [55, "lost_success", null], [124, "success", null], [129, "lost_success", null], [155, "success", null], [163, "lost_success", null], [167, "success", null], [170, "lost_success", null], [[171], "collision", [21.67]], [172, "success", null], [[172, 173], "collision", [21.78, 20.17]], [174, "lost_success", null], [[174, 175, 176, 177], "collision", [24.25, 16.92, 33.21, 17.5]], [178, "success", null], [[178, 179, 180], "collision", [12.15, 23.57, 20.73]], [181, "lost_success", null], [[181, 182, 183, 184, 185, 186, 187, 188], "collision", [20.06, 22.54, 22.67, 21.86, 23.75, 16.78, 16.1, 16.89]], [189, "success", null], [[189, 191], "collision", [17.11, 15.72]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 470, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 11, + "init_config_idx": 29, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [230.73]], [20, "contact", null], [25, "grasped", null], [[27, 29, 30, 31], "collision", [0.09, 0.04, 0.43, 0.38]], [42, "success", null], [49, "lost_success", null], [50, "success", null], [52, "lost_success", null], [53, "success", null], [56, "lost_success", null], [57, "success", null], [65, "lost_success", null], [74, "success", null], [80, "lost_success", null], [84, "success", null], [94, "lost_success", null], [95, "success", null], [100, "lost_success", null], [101, "success", null], [113, "lost_success", null], [116, "success", null], [149, "lost_success", null], [150, "success", null], [153, "lost_success", null], [154, "success", null], [164, "lost_success", null], [169, "success", null], [172, "lost_success", null], [175, "success", null], [181, "lost_success", null], [182, "success", null], [186, "lost_success", null], [190, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 471, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 42, + "init_config_idx": 36, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 14, 15, 16, 18], "collision", [374.14, 249.67, 258.04, 170.49, 178.21, 160.11]], [20, "contact", null], [[20], "collision", [0.77]], [23, "grasped", null], [[23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [4.41, 2.87, 2.71, 1.76, 2.9, 2.28, 2.16, 2.16, 2.02, 2.39, 1.95, 1.87, 1.91, 1.99, 1.86, 1.98, 1.94, 1.92, 1.96, 2.29, 2.28, 2.27, 2.26]], [46, "success", null], [[46], "collision", [2.25]], [47, "lost_success", null], [[47], "collision", [2.52]], [48, "success", null], [[48, 49, 50, 51, 52, 53, 54], "collision", [2.25, 2.29, 2.27, 2.53, 2.32, 2.6, 2.56]], [55, "lost_success", null], [[55], "collision", [2.63]], [56, "success", null], [[56, 57, 58, 59, 60], "collision", [2.58, 2.32, 2.34, 2.34, 2.3]], [61, "lost_success", null], [[61], "collision", [2.05]], [62, "success", null], [[62], "collision", [2.37]], [63, "lost_success", null], [[63, 64, 65, 66], "collision", [2.51, 2.58, 2.05, 2.58]], [67, "success", null], [[67, 68, 69, 70], "collision", [2.45, 2.26, 2.1, 2.36]], [71, "lost_success", null], [[71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85], "collision", [2.51, 1.91, 59.67, 37.28, 21.37, 29.7, 1.94, 28.81, 30.49, 29.36, 23.45, 22.99, 30.24, 17.19, 15.5]], [86, "success", null], [[86, 87, 88], "collision", [24.77, 2.15, 38.19]], [89, "lost_success", null], [[89, 90, 91, 92, 93, 94], "collision", [2.38, 2.21, 2.5, 2.35, 2.47, 2.54]], [95, "success", null], [[95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [2.19, 1.94, 2.25, 2.22, 1.89, 2.0, 2.44, 2.44, 1.96, 2.36, 2.32, 2.01, 2.29]], [108, "lost_success", null], [[108], "collision", [2.49]], [109, "success", null], [[109, 110, 111, 112, 113], "collision", [1.96, 1.99, 2.51, 1.97, 2.14]], [114, "lost_success", null], [[114, 115, 116, 117, 118], "collision", [2.34, 2.43, 2.39, 1.94, 2.02]], [119, "success", null], [[119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133], "collision", [1.95, 2.26, 2.51, 2.41, 1.91, 1.92, 1.9, 1.92, 2.16, 1.89, 1.91, 2.46, 1.84, 2.23, 2.22]], [134, "lost_success", null], [[134, 135, 136], "collision", [34.22, 1.8, 63.19]], [137, "success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162], "collision", [1.95, 42.42, 39.12, 35.98, 36.87, 33.36, 38.22, 39.12, 34.03, 31.11, 22.53, 2.49, 27.49, 30.38, 28.09, 34.1, 39.17, 30.66, 23.33, 23.63, 37.65, 41.75, 38.6, 42.67, 60.68, 40.46]], [163, "lost_success", null], [[163, 164, 165, 166], "collision", [37.97, 28.42, 20.55, 1.83]], [167, "success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [26.31, 40.67, 32.42, 25.48, 35.49, 39.59, 107.21, 37.86, 41.27, 33.91, 28.1, 14.04, 11.16, 2.37, 116.28, 174.61, 7.1, 2.38, 4.08, 3.93, 2.0, 4.14, 13.43, 17.25, 13.96, 28.49, 51.18, 41.74, 68.34, 108.0, 135.37, 178.14, 129.43]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 472, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 14, + "init_config_idx": 39, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "grasped", null], [[19], "collision", [391.1]], [31, "success", null], [40, "lost_success", null], [42, "success", null], [48, "lost_success", null], [59, "success", null], [61, "lost_success", null], [68, "success", null], [69, "lost_success", null], [70, "success", null], [75, "lost_success", null], [84, "success", null], [89, "lost_success", null], [130, "success", null], [157, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 473, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 0, + "init_config_idx": 15, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [55.49]], [23, "contact", null], [[23, 24, 25, 26, 27], "collision", [307.79, 47.95, 56.21, 97.15, 10.95]], [31, "grasped", null], [49, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [60, "success", null], [63, "lost_success", null], [[64, 65, 66], "collision", [1.01, 0.61, 1.34]], [67, "success", null], [[67], "collision", [0.91]], [68, "lost_success", null], [[68], "collision", [0.11]], [70, "success", null], [[70], "collision", [1.18]], [71, "lost_success", null], [94, "success", null], [114, "lost_success", null], [115, "success", null], [116, "lost_success", null], [119, "success", null], [121, "lost_success", null], [127, "success", null], [128, "lost_success", null], [130, "success", null], [188, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 474, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 2, + "init_config_idx": 50, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [[19, 20, 21, 28, 29, 30, 31, 32, 36], "collision", [88.73, 110.54, 58.03, 73.14, 84.7, 90.88, 90.32, 91.09, 125.2]], [37, "success", null], [[37, 38, 39, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [93.65, 49.95, 78.96, 66.15, 58.33, 39.79, 51.14, 46.26, 48.9, 45.4, 117.33, 76.88, 61.14, 65.69, 94.93, 116.72, 102.6, 125.21, 88.59, 103.44, 111.31, 108.72, 75.77, 101.06, 86.55, 111.98, 94.57, 116.43, 235.9, 181.25, 166.48, 140.72, 129.91, 157.72, 143.93, 159.49, 39.89, 47.07, 33.68]], [150, "lost_success", null], [151, "success", null], [161, "lost_success", null], [180, "success", null], [185, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 475, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 10, + "init_config_idx": 14, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [365.59]], [17, "contact", null], [18, "grasped", null], [30, "success", null], [38, "lost_success", null], [42, "success", null], [43, "lost_success", null], [44, "success", null], [48, "lost_success", null], [50, "success", null], [68, "lost_success", null], [70, "success", null], [86, "lost_success", null], [87, "success", null], [88, "lost_success", null], [91, "success", null], [92, "lost_success", null], [93, "success", null], [95, "lost_success", null], [96, "success", null], [99, "lost_success", null], [100, "success", null], [112, "lost_success", null], [118, "success", null], [130, "lost_success", null], [137, "success", null], [145, "lost_success", null], [167, "success", null], [168, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 476, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 46, + "init_config_idx": 23, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16], "collision", [295.88, 0.12]], [17, "contact", null], [17, "grasped", null], [34, "success", null], [50, "lost_success", null], [59, "success", null], [79, "lost_success", null], [84, "success", null], [86, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 477, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 7, + "init_config_idx": 38, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17], "collision", [924.54, 630.77]], [18, "contact", null], [[18, 20, 22], "collision", [3.39, 24.28, 33.06]], [23, "grasped", null], [39, "success", null], [50, "lost_success", null], [54, "success", null], [55, "lost_success", null], [83, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 478, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 34, + "init_config_idx": 34, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [[28, 29, 30], "collision", [75.73, 46.54, 60.79]], [38, "success", null], [49, "lost_success", null], [87, "success", null], [101, "lost_success", null], [108, "success", null], [110, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 479, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 55, + "init_config_idx": 19, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [103.41]], [19, "contact", null], [20, "grasped", null], [39, "success", null], [73, "lost_success", null], [75, "success", null], [79, "lost_success", null], [82, "success", null], [83, "lost_success", null], [87, "success", null], [89, "lost_success", null], [93, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [109, "success", null], [110, "lost_success", null], [115, "success", null], [119, "lost_success", null], [121, "success", null], [138, "lost_success", null], [146, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 480, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 11, + "init_config_idx": 45, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [19, "lost_contact", null], [[24], "collision", [11.5]], [25, "contact", null], [29, "grasped", null], [[29, 34, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [0.58, 56.29, 45.65, 1.92, 2.79, 3.15, 4.74, 4.06, 2.94, 1.98, 1.32]], [53, "success", null], [55, "lost_success", null], [56, "success", null], [[60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [0.24, 0.24, 0.22, 0.24, 0.23, 0.13, 0.12, 0.12, 0.11, 0.13, 0.16, 0.25, 0.2, 0.45, 0.25, 0.09, 0.05]], [99, "lost_success", null], [100, "success", null], [144, "lost_success", null], [149, "success", null], [163, "lost_success", null], [164, "success", null], [166, "lost_success", null], [[189, 190, 191, 193, 194, 195, 196, 197, 198, 199], "collision", [1.32, 1.02, 0.71, 1.3, 1.68, 1.6, 1.53, 1.56, 1.62, 2.3]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 481, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 32, + "init_config_idx": 10, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [1902.03, 235.5]], [14, "contact", null], [18, "grasped", null], [35, "success", null], [44, "lost_success", null], [45, "success", null], [74, "lost_success", null], [79, "success", null], [91, "lost_success", null], [93, "success", null], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [107, "success", null], [108, "lost_success", null], [109, "success", null], [124, "lost_success", null], [125, "success", null], [126, "lost_success", null], [127, "success", null], [135, "lost_success", null], [142, "success", null], [143, "lost_success", null], [173, "success", null], [185, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 482, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 44, + "init_config_idx": 15, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [45, "success", null], [85, "lost_success", null], [86, "success", null], [155, "lost_success", null], [157, "success", null], [169, "lost_success", null], [170, "success", null], [172, "lost_success", null], [183, "success", null], [187, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 483, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 20, + "init_config_idx": 15, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [58, "success", null], [78, "lost_success", null], [85, "success", null], [94, "lost_success", null], [95, "success", null], [96, "lost_success", null], [111, "success", null], [115, "lost_success", null], [144, "success", null], [152, "lost_success", null], [154, "success", null], [156, "lost_success", null], [158, "success", null], [161, "lost_success", null], [[162, 163, 164, 165, 166, 167, 168, 169, 170], "collision", [99.92, 24.85, 35.16, 28.07, 27.46, 19.0, 21.18, 19.24, 32.82]], [171, "success", null], [[172, 173, 174], "collision", [32.19, 26.28, 23.42]], [175, "lost_success", null], [[175, 176], "collision", [29.11, 23.78]], [178, "success", null], [[178, 179, 180], "collision", [36.65, 19.8, 28.01]], [181, "lost_success", null], [[181, 182], "collision", [28.2, 26.64]], [183, "success", null], [[183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [30.5, 29.97, 34.25, 31.98, 33.56, 30.18, 28.38, 25.45, 18.85, 19.7, 674.32]], [194, "lost_success", null], [[195], "collision", [508.46]], [196, "success", null], [[197, 198, 199], "collision", [222.26, 195.46, 155.7]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 484, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 22, + "init_config_idx": 27, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [[31, 32, 33, 34, 35, 36, 37, 38, 43], "collision", [248.96, 73.43, 73.35, 88.96, 92.72, 103.46, 122.94, 101.81, 65.28]], [44, "success", null], [46, "lost_success", null], [47, "success", null], [52, "lost_success", null], [53, "success", null], [102, "lost_success", null], [103, "success", null], [108, "lost_success", null], [110, "success", null], [[115, 116, 117], "collision", [29.81, 57.27, 69.64]], [129, "lost_success", null], [[129, 130, 131, 134, 135], "collision", [50.02, 74.75, 21.41, 256.57, 228.66]], [161, "success", null], [[161, 162, 163], "collision", [27.28, 16.6, 17.8]], [164, "lost_success", null], [[166, 167], "collision", [13.33, 7.74]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 485, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 44, + "init_config_idx": 9, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 11], "collision", [834.61, 347.78, 259.0, 202.96, 162.56]], [14, "contact", null], [14, "grasped", null], [31, "success", null], [32, "lost_success", null], [36, "success", null], [45, "lost_success", null], [46, "success", null], [50, "lost_success", null], [55, "success", null], [59, "lost_success", null], [60, "success", null], [81, "lost_success", null], [100, "success", null], [117, "lost_success", null], [122, "success", null], [131, "lost_success", null], [136, "success", null], [192, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 486, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 6, + "init_config_idx": 16, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [3424.44]], [20, "contact", null], [20, "grasped", null], [[31, 32], "collision", [121.46, 87.1]], [40, "success", null], [51, "lost_success", null], [59, "success", null], [83, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [98, "lost_success", null], [109, "success", null], [124, "lost_success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166], "collision", [7.24, 7.78, 8.58, 7.82, 7.37, 5.77, 5.36, 6.3, 6.64, 7.43, 9.05, 7.52, 7.93, 7.17, 6.34]], [167, "success", null], [[167, 168, 169, 170, 171, 173], "collision", [6.78, 7.05, 6.47, 5.36, 7.36, 8.49]], [174, "lost_success", null], [[174], "collision", [3.94]], [175, "success", null], [[175, 176], "collision", [9.42, 12.87]], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [196, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 487, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 15, + "init_config_idx": 41, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [646.92, 482.49, 327.06, 111.33]], [13, "contact", null], [15, "grasped", null], [[20], "collision", [110.87]], [30, "success", null], [[33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80], "collision", [0.23, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 37.71, 103.76, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [81, "lost_success", null], [[81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [94, "success", null], [[94, 95, 96, 97, 98, 99, 100, 101, 102, 103], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [104, "lost_success", null], [[104, 105, 106, 107, 108, 109, 110, 111], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [112, "success", null], [[112], "collision", [0.09]], [113, "lost_success", null], [[113], "collision", [0.09]], [114, "success", null], [[114, 115], "collision", [0.09, 0.09]], [116, "lost_success", null], [[116, 117], "collision", [0.09, 0.09]], [118, "success", null], [[118, 119, 120, 121, 122, 123, 124, 125], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [126, "lost_success", null], [[126, 127, 128, 129, 130, 131], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [132, "success", null], [[132, 133, 134, 135], "collision", [0.09, 0.09, 0.09, 0.09]], [136, "lost_success", null], [[136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [150, "success", null], [[150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [162, "lost_success", null], [[162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 488, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 12, + "init_config_idx": 13, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [24, "success", null], [30, "lost_success", null], [40, "success", null], [45, "lost_success", null], [52, "success", null], [54, "lost_success", null], [[68, 70, 71, 72, 73, 74, 75, 76, 87, 89, 91, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 184, 187, 188, 189], "collision", [246.74, 470.32, 82.89, 129.4, 35.29, 122.22, 58.74, 85.96, 38.03, 45.93, 23.69, 32.84, 11.02, 23.32, 25.54, 34.87, 31.58, 39.79, 97.47, 48.0, 50.28, 52.23, 48.91, 44.24, 18.46, 73.18, 24.63, 72.23, 61.12, 4.08, 1.91, 15.0]], [194, "success", null], [196, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 489, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 7, + "init_config_idx": 32, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [19, "grasped", null], [42, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [53, "success", null], [56, "lost_success", null], [60, "success", null], [62, "lost_success", null], [64, "success", null], [77, "lost_success", null], [79, "success", null], [129, "lost_success", null], [130, "success", null], [155, "lost_success", null], [158, "success", null], [163, "lost_success", null], [165, "success", null], [168, "lost_success", null], [170, "success", null], [182, "lost_success", null], [183, "success", null], [195, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 490, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 1, + "init_config_idx": 42, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [39, "success", null], [41, "lost_success", null], [49, "success", null], [52, "lost_success", null], [67, "success", null], [68, "lost_success", null], [70, "success", null], [117, "lost_success", null], [122, "success", null], [123, "lost_success", null], [143, "success", null], [153, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 491, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 31, + "init_config_idx": 12, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [109.73]], [24, "contact", null], [25, "lost_contact", null], [26, "contact", null], [26, "grasped", null], [50, "success", null], [56, "lost_success", null], [57, "success", null], [60, "lost_success", null], [61, "success", null], [64, "lost_success", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [73, "lost_success", null], [74, "success", null], [[79, 82, 85, 86, 87, 88], "collision", [11.32, 29.73, 31.89, 21.92, 22.21, 40.38]], [89, "lost_success", null], [[89], "collision", [65.01]], [90, "success", null], [[90, 91, 92], "collision", [66.17, 67.93, 72.01]], [93, "lost_success", null], [[94], "collision", [8.98]], [103, "success", null], [104, "lost_success", null], [116, "success", null], [184, "lost_success", null], [185, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 492, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 5, + "init_config_idx": 23, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 9], "collision", [456.5, 369.4, 265.06, 236.37, 460.98, 119.91]], [13, "contact", null], [13, "grasped", null], [26, "success", null], [28, "lost_success", null], [29, "success", null], [37, "lost_success", null], [42, "success", null], [43, "lost_success", null], [47, "success", null], [55, "lost_success", null], [62, "success", null], [67, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [81, "lost_success", null], [88, "success", null], [140, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 493, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 3, + "init_config_idx": 25, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [[22], "collision", [1.78]], [23, "grasped", null], [[23, 25], "collision", [0.16, 0.03]], [41, "success", null], [[43], "collision", [1.04]], [48, "lost_success", null], [49, "success", null], [[50, 51, 52, 53, 54, 55], "collision", [0.03, 0.03, 0.03, 0.04, 0.09, 0.53]], [56, "lost_success", null], [[56, 57, 58, 59, 60], "collision", [0.18, 0.41, 0.44, 0.48, 0.16]], [61, "success", null], [[61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83], "collision", [0.36, 0.53, 0.45, 0.18, 0.22, 0.14, 0.21, 0.25, 0.32, 0.03, 0.38, 0.06, 0.16, 0.01, 0.23, 0.22, 0.1, 0.03, 0.19, 0.17, 0.16, 0.2, 0.02]], [84, "lost_success", null], [[84, 85, 86, 87, 88, 89, 90], "collision", [0.16, 0.16, 0.18, 0.23, 0.01, 0.21, 0.13]], [91, "success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 117, 118, 119, 123, 124, 125, 127, 128, 129, 131, 132, 133, 134, 135, 136, 145, 149, 151, 153, 155, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [0.21, 0.22, 0.21, 0.13, 0.0, 0.1, 0.13, 0.16, 0.02, 0.2, 0.2, 0.19, 0.02, 0.17, 0.12, 0.02, 0.06, 0.15, 0.02, 0.14, 0.02, 0.04, 0.04, 0.02, 0.0, 0.06, 0.02, 0.01, 0.01, 0.04, 0.04, 0.03, 0.05, 0.02, 0.01, 0.03, 0.02, 0.01, 0.01, 0.01, 0.0, 0.08, 0.01, 0.0, 0.02, 0.02, 0.01, 0.05, 0.07, 0.01, 0.09, 0.07, 0.09, 0.06]], [170, "lost_success", null], [[170, 171, 172, 173, 174], "collision", [0.05, 0.11, 0.05, 0.05, 0.02]], [175, "success", null], [[175, 177, 179, 181], "collision", [0.04, 0.04, 0.04, 0.02]], [182, "lost_success", null], [[182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 193, 194], "collision", [0.03, 0.02, 0.02, 0.01, 0.02, 0.01, 0.05, 0.09, 0.01, 0.04, 0.05, 0.03]], [195, "success", null], [[195, 196], "collision", [0.07, 0.02]], [197, "lost_success", null], [[197, 198, 199], "collision", [0.09, 0.17, 0.16]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 494, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 4, + "init_config_idx": 26, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [25, "grasped", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [52, "lost_success", null], [54, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [[70], "collision", [3.7]], [71, "success", null], [[71, 72, 73, 74, 75, 77, 78, 79, 81], "collision", [10.39, 10.72, 7.85, 3.52, 0.51, 0.74, 0.8, 0.92, 0.16]], [92, "lost_success", null], [94, "success", null], [96, "lost_success", null], [97, "success", null], [113, "lost_success", null], [115, "success", null], [151, "lost_success", null], [164, "success", null], [165, "lost_success", null], [169, "success", null], [170, "lost_success", null], [171, "success", null], [173, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 495, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 37, + "init_config_idx": 25, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "lost_contact", null], [24, "contact", null], [26, "lost_contact", null], [30, "contact", null], [30, "grasped", null], [[43], "collision", [307.75]], [98, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [110, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 496, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 42, + "init_config_idx": 10, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 13], "collision", [190.68, 197.13, 38.33]], [16, "contact", null], [17, "grasped", null], [[20, 23], "collision", [4.96, 170.62]], [33, "success", null], [36, "lost_success", null], [37, "success", null], [39, "lost_success", null], [40, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [44, "success", null], [48, "lost_success", null], [57, "success", null], [66, "lost_success", null], [67, "success", null], [75, "lost_success", null], [85, "success", null], [102, "lost_success", null], [104, "success", null], [110, "lost_success", null], [112, "success", null], [114, "lost_success", null], [115, "success", null], [116, "lost_success", null], [120, "success", null], [124, "lost_success", null], [126, "success", null], [184, "lost_success", null], [185, "success", null], [188, "lost_success", null], [189, "success", null], [192, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 497, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 29, + "init_config_idx": 33, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [32, "lost_contact", null], [[34, 35, 36, 37, 38, 39, 40], "collision", [104.53, 76.67, 183.29, 173.84, 111.43, 51.37, 101.58]], [69, "contact", null], [71, "grasped", null], [123, "success", null], [129, "lost_success", null], [130, "success", null], [131, "lost_success", null], [132, "success", null], [133, "lost_success", null], [136, "success", null], [138, "lost_success", null], [142, "success", null], [145, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 498, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 14, + "init_config_idx": 0, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[28, 29], "collision", [134.98, 110.73]], [39, "success", null], [98, "lost_success", null], [[130, 131, 132, 133], "collision", [38.02, 43.9, 44.51, 39.12]], [134, "success", null], [[134, 135, 136, 137, 138, 139, 140, 141, 142, 143], "collision", [39.09, 42.91, 42.38, 28.51, 57.73, 45.71, 56.46, 49.04, 44.51, 86.51]], [144, "lost_success", null], [[144], "collision", [64.0]], [145, "success", null], [[145, 147, 148, 149], "collision", [88.91, 48.61, 33.67, 15.13]], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [165, "lost_success", null], [166, "success", null], [168, "lost_success", null], [172, "success", null], [175, "lost_success", null], [177, "success", null], [181, "lost_success", null], [182, "success", null], [[197], "collision", [196.29]], [199, "lost_success", null], [[199], "collision", [537.71]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 499, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 22, + "init_config_idx": 40, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [4801.13]], [18, "contact", null], [19, "grasped", null], [43, "success", null], [46, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [55, "lost_success", null], [150, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 500, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 3, + "init_config_idx": 0, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "grasped", null], [[14], "collision", [302.05]], [26, "success", null], [38, "lost_success", null], [39, "success", null], [48, "lost_success", null], [49, "success", null], [[54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [63.37, 30.58, 32.53, 40.81, 43.2, 45.56, 46.17, 42.48, 54.21, 17.81, 36.83, 44.24, 32.71, 27.93, 30.75, 30.2, 33.33, 47.19, 21.47, 25.42, 31.57, 37.77, 35.18, 53.58, 62.36, 70.22, 67.89, 45.19, 55.01, 42.14, 46.45, 42.85, 45.58, 46.42, 59.59, 57.82, 63.04, 55.22, 47.01, 39.75, 31.59]], [95, "lost_success", null], [[95, 96], "collision", [39.37, 32.25]], [98, "success", null], [99, "lost_success", null], [[99], "collision", [42.13]], [100, "success", null], [[101, 102, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118], "collision", [42.01, 77.49, 83.98, 101.45, 102.82, 134.85, 79.7, 57.35, 76.34, 66.48, 61.91, 52.04, 52.53, 107.9, 70.8, 70.03]], [127, "lost_success", null], [128, "success", null], [142, "lost_success", null], [143, "success", null], [148, "lost_success", null], [149, "success", null], [162, "lost_success", null], [166, "success", null], [171, "lost_success", null], [176, "success", null], [179, "lost_success", null], [184, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 501, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 39, + "init_config_idx": 32, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [28, "success", null], [42, "lost_success", null], [43, "success", null], [68, "lost_success", null], [74, "success", null], [75, "lost_success", null], [77, "success", null], [78, "lost_success", null], [81, "success", null], [82, "lost_success", null], [84, "success", null], [94, "lost_success", null], [109, "success", null], [111, "lost_success", null], [[114, 115, 117, 118, 119, 120], "collision", [56.56, 13.8, 12.67, 12.44, 13.43, 10.88]], [121, "success", null], [[121, 122, 123], "collision", [11.25, 10.02, 14.18]], [124, "lost_success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133], "collision", [15.06, 12.81, 13.62, 14.86, 12.52, 13.29, 10.4, 10.09, 9.09, 8.61]], [134, "success", null], [[134, 135, 136], "collision", [9.51, 10.73, 11.99]], [137, "lost_success", null], [[137, 138, 139, 140], "collision", [13.94, 12.44, 11.44, 12.03]], [142, "success", null], [[142], "collision", [9.3]], [144, "lost_success", null], [147, "success", null], [168, "lost_success", null], [170, "success", null], [196, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 502, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 22, + "init_config_idx": 10, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15, 16, 17, 18, 19, 20, 21], "collision", [512.51, 295.83, 336.05, 457.61, 426.1, 442.07, 481.54, 557.9, 215.41]], [23, "contact", null], [24, "grasped", null], [45, "success", null], [[56], "collision", [14.22]], [59, "lost_success", null], [[59], "collision", [32.6]], [60, "success", null], [[60, 61, 62], "collision", [43.76, 36.35, 2.18]], [68, "lost_success", null], [74, "success", null], [133, "lost_success", null], [135, "success", null], [145, "lost_success", null], [149, "success", null], [153, "lost_success", null], [162, "success", null], [172, "lost_success", null], [173, "success", null], [186, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 503, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 20, + "init_config_idx": 34, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "lost_contact", null], [18, "contact", null], [19, "grasped", null], [36, "success", null], [37, "lost_success", null], [38, "success", null], [44, "lost_success", null], [45, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [56, "lost_success", null], [59, "success", null], [60, "lost_success", null], [62, "success", null], [76, "lost_success", null], [[76, 77], "collision", [191.19, 79.18]], [78, "success", null], [[78, 79, 80, 81], "collision", [67.44, 57.02, 65.59, 64.2]], [82, "lost_success", null], [[82, 83], "collision", [55.53, 64.93]], [84, "success", null], [88, "lost_success", null], [93, "success", null], [98, "lost_success", null], [103, "success", null], [126, "lost_success", null], [129, "success", null], [133, "lost_success", null], [139, "success", null], [143, "lost_success", null], [[143, 144, 145, 146], "collision", [2.88, 3.45, 4.15, 4.63]], [147, "success", null], [[147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159], "collision", [4.26, 3.64, 3.56, 2.72, 2.78, 2.5, 2.57, 2.27, 2.51, 1.91, 2.25, 1.77, 2.41]], [160, "lost_success", null], [[160], "collision", [1.87]], [161, "success", null], [[161, 162, 163, 164], "collision", [3.07, 2.94, 2.09, 2.32]], [165, "lost_success", null], [[165, 166, 167, 168], "collision", [2.22, 2.68, 2.03, 3.19]], [169, "success", null], [[169, 170, 171, 172, 173, 174], "collision", [3.88, 4.2, 3.97, 3.85, 4.58, 4.63]], [175, "lost_success", null], [[175], "collision", [4.48]], [176, "success", null], [[176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188], "collision", [2.95, 1.78, 1.0, 1.34, 1.08, 2.21, 3.41, 4.78, 5.1, 5.89, 5.31, 5.82, 5.67]], [189, "lost_success", null], [[189, 190, 191, 192, 193, 194, 195, 196], "collision", [4.67, 0.99, 1.02, 2.16, 1.29, 1.17, 0.7, 0.43]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 504, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 6, + "init_config_idx": 13, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [[23], "collision", [0.13]], [41, "success", null], [45, "lost_success", null], [[47, 48, 49, 50], "collision", [1.19, 0.76, 0.35, 0.32]], [51, "success", null], [[51], "collision", [0.35]], [52, "lost_success", null], [[52], "collision", [0.35]], [53, "success", null], [[53, 54, 55, 56, 57, 58], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [59, "lost_success", null], [[59], "collision", [0.35]], [60, "success", null], [[60, 61, 62, 63, 64, 65], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [66, "lost_success", null], [[66, 67, 68, 69, 70, 71, 72, 73], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.33, 0.35]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84], "collision", [0.35, 0.33, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [85, "lost_success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [96, "success", null], [[96, 97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.34, 0.35, 0.35, 0.35, 0.35]], [106, "lost_success", null], [[106, 107, 108, 109, 110, 111, 112], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [113, "success", null], [[113], "collision", [0.35]], [114, "lost_success", null], [[114], "collision", [0.35]], [115, "success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127], "collision", [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [128, "lost_success", null], [[128], "collision", [0.35]], [129, "success", null], [[129, 130, 131, 132, 133, 134, 135, 136], "collision", [0.35, 0.35, 0.35, 0.35, 0.34, 0.35, 0.35, 0.35]], [137, "lost_success", null], [[137], "collision", [0.35]], [138, "success", null], [[138], "collision", [0.35]], [139, "lost_success", null], [[139], "collision", [0.35]], [140, "success", null], [[140], "collision", [0.35]], [141, "lost_success", null], [[141, 142], "collision", [0.35, 0.35]], [143, "success", null], [[143], "collision", [0.35]], [144, "lost_success", null], [[144], "collision", [0.35]], [145, "success", null], [[145, 146, 147, 148, 149, 150], "collision", [0.35, 0.35, 0.35, 0.35, 0.36, 0.34]], [151, "lost_success", null], [[151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.35, 0.36, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.36, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.34, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 505, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 30, + "init_config_idx": 34, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28], "collision", [125.65, 255.17, 197.04, 63.42, 117.99, 296.98, 33.8, 191.64, 69.92, 55.13, 57.43, 70.42, 129.31, 137.96, 35.64]], [30, "contact", null], [[30], "collision", [4.7]], [31, "grasped", null], [[31, 46, 47], "collision", [2.1, 56.47, 73.94]], [57, "success", null], [58, "lost_success", null], [59, "success", null], [61, "lost_success", null], [62, "success", null], [67, "lost_success", null], [89, "success", null], [91, "lost_success", null], [106, "success", null], [123, "lost_success", null], [145, "success", null], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [193, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 506, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 39, + "init_config_idx": 1, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [[31], "collision", [138.98]], [32, "success", null], [[32, 33], "collision", [66.39, 76.63]], [40, "lost_success", null], [46, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84], "collision", [43.86, 41.48, 25.08, 34.39, 39.04, 59.43, 55.36, 64.33, 72.21, 81.03, 97.53, 100.37, 107.92, 104.98, 100.07, 93.63, 103.95, 101.71, 109.17, 89.6, 87.33, 112.23, 114.47, 110.67, 84.11, 88.12, 101.02, 91.74, 86.95, 83.55, 68.44, 69.88, 74.6]], [85, "lost_success", null], [[85, 86, 87, 88, 89, 90], "collision", [50.09, 42.0, 29.91, 57.6, 33.86, 36.47]], [91, "success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 115], "collision", [59.36, 74.42, 64.76, 63.62, 63.58, 58.02, 64.82, 78.29, 76.14, 78.26, 78.23, 60.63, 75.85, 66.07, 79.72, 61.66, 56.6, 45.77, 51.58, 63.2, 71.03, 63.21, 50.11, 54.38]], [142, "lost_success", null], [143, "success", null], [150, "lost_success", null], [157, "success", null], [161, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 507, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 29, + "init_config_idx": 6, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [186.82]], [9, "contact", null], [[9], "collision", [78.36]], [10, "grasped", null], [[11], "collision", [69.53]], [33, "success", null], [34, "lost_success", null], [35, "success", null], [37, "lost_success", null], [38, "success", null], [39, "lost_success", null], [[43], "collision", [15.29]], [48, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [59, "lost_success", null], [60, "success", null], [70, "lost_success", null], [74, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [83, "success", null], [89, "lost_success", null], [91, "success", null], [96, "lost_success", null], [97, "success", null], [99, "lost_success", null], [100, "success", null], [108, "lost_success", null], [111, "success", null], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 508, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 7, + "init_config_idx": 22, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [33, "success", null], [38, "lost_success", null], [40, "success", null], [43, "lost_success", null], [48, "success", null], [53, "lost_success", null], [54, "success", null], [62, "lost_success", null], [63, "success", null], [88, "lost_success", null], [98, "success", null], [99, "lost_success", null], [107, "success", null], [117, "lost_success", null], [137, "success", null], [156, "lost_success", null], [157, "success", null], [158, "lost_success", null], [164, "success", null], [167, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 509, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 11, + "init_config_idx": 10, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22], "collision", [62.1]], [25, "contact", null], [[29, 30, 31, 32, 34], "collision", [3.79, 3.75, 0.09, 4.33, 2.46]], [35, "lost_contact", null], [36, "contact", null], [37, "lost_contact", null], [70, "contact", null], [71, "lost_contact", null], [72, "contact", null], [72, "grasped", null], [107, "success", null], [108, "lost_success", null], [111, "success", null], [112, "lost_success", null], [116, "success", null], [121, "lost_success", null], [122, "success", null], [123, "lost_success", null], [124, "success", null], [127, "lost_success", null], [128, "success", null], [138, "lost_success", null], [139, "success", null], [146, "lost_success", null], [147, "success", null], [158, "lost_success", null], [160, "success", null], [164, "lost_success", null], [190, "success", null], [194, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 510, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 65, + "init_config_idx": 41, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [[22], "collision", [431.0]], [23, "lost_contact", null], [[24, 25], "collision", [208.51, 70.25]], [26, "contact", null], [[26], "collision", [106.68]], [28, "grasped", null], [[39, 40, 41, 42], "collision", [0.31, 0.02, 0.05, 0.56]], [43, "success", null], [[43, 44], "collision", [0.09, 0.09]], [45, "lost_success", null], [[45], "collision", [0.09]], [46, "success", null], [[46], "collision", [0.09]], [47, "lost_success", null], [[47, 48, 49, 50, 51, 52, 53], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [54, "success", null], [[54, 55, 56, 57, 58], "collision", [0.09, 0.09, 0.09, 0.09, 0.09]], [59, "lost_success", null], [[59, 60], "collision", [0.09, 0.09]], [61, "success", null], [[61, 62], "collision", [0.09, 0.09]], [63, "lost_success", null], [[63], "collision", [0.09]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [72, "lost_success", null], [[72, 73, 74, 75, 76, 77], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [78, "success", null], [[78, 79, 80, 81, 82], "collision", [0.09, 0.09, 0.09, 0.09, 0.09]], [83, "lost_success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [92, "success", null], [[92], "collision", [0.09]], [93, "lost_success", null], [[93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103], "collision", [0.09, 0.09, 0.09, 0.1, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [104, "success", null], [[104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.1]], [115, "lost_success", null], [[115, 116, 117], "collision", [0.09, 0.09, 0.09]], [118, "success", null], [[118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [139, "lost_success", null], [[139], "collision", [0.09]], [140, "success", null], [[140], "collision", [0.1]], [141, "lost_success", null], [[141, 142, 143], "collision", [759.88, 0.09, 601.32]], [144, "success", null], [[144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163], "collision", [36.59, 0.09, 2.33, 0.09, 68.13, 0.09, 0.09, 305.26, 0.09, 83.35, 0.09, 78.77, 0.09, 10.5, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [164, "lost_success", null], [[164, 165, 166, 167], "collision", [0.09, 0.09, 0.09, 0.09]], [168, "success", null], [[168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184], "collision", [0.09, 0.09, 0.11, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 40.21, 0.09, 0.09]], [185, "lost_success", null], [[185, 186], "collision", [183.47, 303.77]], [187, "success", null], [[187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [123.15, 0.1, 68.17, 238.6, 211.5, 0.09, 115.88, 30.52, 58.82, 143.03, 107.68, 154.99, 125.08]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 511, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 4, + "init_config_idx": 0, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [529.3, 225.38, 131.12]], [14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [16, "grasped", null], [34, "success", null], [60, "lost_success", null], [64, "success", null], [69, "lost_success", null], [85, "success", null], [105, "lost_success", null], [112, "success", null], [[193, 194, 195, 197, 198, 199], "collision", [345.14, 337.12, 1.32, 70.92, 40.11, 2.28]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 512, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 24, + "init_config_idx": 11, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [1491.39]], [16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [18, "grasped", null], [[23, 24, 25], "collision", [228.7, 173.35, 208.78]], [35, "success", null], [[47], "collision", [135.41]], [48, "lost_success", null], [[48], "collision", [14.14]], [49, "success", null], [[49], "collision", [30.92]], [50, "lost_success", null], [[50], "collision", [35.71]], [51, "success", null], [[51], "collision", [12.48]], [53, "lost_success", null], [[53, 54, 55, 56], "collision", [58.66, 34.97, 15.97, 17.35]], [57, "success", null], [74, "lost_success", null], [75, "success", null], [76, "lost_success", null], [85, "success", null], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [93, "success", null], [97, "lost_success", null], [[98], "collision", [31.3]], [99, "success", null], [[99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131], "collision", [44.41, 33.63, 48.52, 53.96, 53.11, 41.01, 26.82, 37.22, 32.93, 27.73, 27.52, 31.73, 30.71, 27.33, 75.85, 93.44, 53.05, 42.89, 53.05, 53.59, 51.05, 63.76, 77.36, 93.21, 54.76, 45.52, 55.02, 58.09, 56.19, 58.94, 61.87, 52.07, 51.43]], [132, "lost_success", null], [[132, 133, 134], "collision", [78.84, 84.87, 46.33]], [135, "success", null], [[135], "collision", [39.4]], [136, "lost_success", null], [[136], "collision", [47.27]], [137, "success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145, 146], "collision", [59.59, 17.75, 26.95, 44.36, 49.48, 75.82, 43.72, 45.53, 39.21, 57.61]], [147, "lost_success", null], [150, "success", null], [156, "lost_success", null], [163, "success", null], [172, "lost_success", null], [173, "success", null], [185, "lost_success", null], [186, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 513, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 5, + "init_config_idx": 0, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [[26, 27, 45, 46], "collision", [1.27, 28.39, 8.2, 0.85]], [47, "success", null], [[47, 48], "collision", [0.78, 0.65]], [49, "lost_success", null], [[49], "collision", [0.63]], [50, "success", null], [[50, 51], "collision", [0.74, 0.67]], [52, "lost_success", null], [[52], "collision", [0.7]], [53, "success", null], [[53, 54], "collision", [0.74, 0.65]], [55, "lost_success", null], [[55], "collision", [0.15]], [59, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [69, "success", null], [[78, 79], "collision", [1.11, 0.68]], [80, "lost_success", null], [[80], "collision", [0.19]], [81, "success", null], [82, "lost_success", null], [83, "success", null], [84, "lost_success", null], [85, "success", null], [114, "lost_success", null], [116, "success", null], [131, "lost_success", null], [134, "success", null], [144, "lost_success", null], [[147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162], "collision", [0.82, 0.63, 0.72, 0.82, 0.72, 0.7, 0.7, 0.89, 0.71, 0.66, 0.64, 0.65, 0.53, 0.51, 0.11, 0.39]], [163, "success", null], [[163], "collision", [0.39]], [164, "lost_success", null], [[164, 165, 166, 167, 168, 169, 170, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.51, 0.39, 0.44, 0.34, 0.35, 0.67, 0.87, 0.49, 0.72, 0.33, 0.85, 0.85, 0.86, 0.37, 0.73, 1.08, 0.92, 1.07, 1.15, 1.52, 0.46, 0.55, 0.48, 0.48, 0.57, 0.31, 0.39, 0.26, 0.54, 0.83]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 514, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 41, + "init_config_idx": 10, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[23, 24, 25, 26, 27], "collision", [675.01, 310.06, 318.25, 308.88, 64.73]], [90, "success", null], [158, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 515, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 9, + "init_config_idx": 5, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "lost_contact", null], [25, "contact", null], [26, "grasped", null], [48, "success", null], [51, "lost_success", null], [54, "success", null], [[59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72], "collision", [1.28, 1.35, 1.26, 1.18, 1.36, 1.24, 1.71, 1.25, 1.59, 1.15, 1.37, 1.26, 1.41, 1.33]], [73, "lost_success", null], [[73, 74, 75, 76], "collision", [0.87, 1.21, 1.2, 199.63]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [147.69, 69.67, 71.68, 40.55, 37.74, 31.78, 37.85, 39.91, 19.94, 52.8, 0.99]], [90, "lost_success", null], [[92, 93, 94], "collision", [0.25, 1.45, 1.54]], [95, "success", null], [[95], "collision", [0.98]], [96, "lost_success", null], [[96, 97, 98, 99, 100, 101, 102], "collision", [1.4, 1.06, 0.94, 1.02, 1.04, 0.97, 1.07]], [103, "success", null], [[103, 104, 105], "collision", [1.01, 1.11, 0.87]], [110, "lost_success", null], [113, "success", null], [116, "lost_success", null], [135, "success", null], [150, "lost_success", null], [179, "success", null], [188, "lost_success", null], [193, "success", null], [[193, 194, 195, 196, 197, 198, 199], "collision", [87.6, 126.42, 139.17, 123.0, 160.68, 163.5, 176.89]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 516, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 26, + "init_config_idx": 7, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 19, 20, 21, 25, 26, 27, 28], "collision", [1179.19, 1060.29, 204.16, 591.45, 132.62, 66.92, 7.08, 91.73, 271.5]], [30, "contact", null], [30, "grasped", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [58, "lost_success", null], [59, "success", null], [61, "lost_success", null], [62, "success", null], [65, "lost_success", null], [66, "success", null], [69, "lost_success", null], [70, "success", null], [77, "lost_success", null], [84, "success", null], [87, "lost_success", null], [89, "success", null], [91, "lost_success", null], [92, "success", null], [93, "lost_success", null], [[135, 136], "collision", [133.42, 118.73]], [159, "success", null], [162, "lost_success", null], [163, "success", null], [165, "lost_success", null], [178, "success", null], [179, "lost_success", null], [181, "success", null], [186, "lost_success", null], [187, "success", null], [191, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 517, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 41, + "init_config_idx": 17, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[23, 24], "collision", [581.33, 462.3]], [25, "contact", null], [[25], "collision", [421.13]], [26, "lost_contact", null], [27, "contact", null], [27, "grasped", null], [[27, 28, 29, 33, 34, 44, 47, 51, 52], "collision", [1.72, 0.3, 0.44, 59.19, 0.01, 0.0, 0.0, 0.18, 0.06]], [53, "success", null], [[53, 54, 55, 56, 57, 58], "collision", [0.15, 0.04, 0.34, 0.11, 0.38, 0.24]], [59, "lost_success", null], [[59, 60, 61], "collision", [0.35, 0.01, 0.21]], [62, "success", null], [[63, 64, 65, 66], "collision", [0.17, 0.02, 0.0, 0.01]], [67, "lost_success", null], [[67, 68], "collision", [0.03, 0.19]], [69, "success", null], [[69, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 82, 83, 84], "collision", [0.22, 0.03, 0.02, 0.13, 0.02, 0.0, 0.03, 0.08, 0.19, 0.12, 0.13, 0.03, 0.09, 0.15]], [85, "lost_success", null], [[85], "collision", [0.13]], [86, "success", null], [[86], "collision", [0.09]], [87, "lost_success", null], [[87, 88, 89, 90, 91, 92, 93], "collision", [0.15, 0.07, 0.04, 0.18, 0.15, 0.18, 0.08]], [94, "success", null], [[94, 95, 96, 97, 98], "collision", [0.03, 0.05, 0.07, 0.11, 0.06]], [99, "lost_success", null], [[99, 100, 101, 102, 103, 104, 105, 106], "collision", [0.12, 0.07, 0.09, 0.04, 0.09, 0.12, 0.09, 0.06]], [107, "success", null], [[107, 108, 109, 110, 111, 112, 113, 114, 115], "collision", [0.03, 0.01, 0.09, 0.0, 0.07, 0.1, 0.12, 0.07, 0.01]], [116, "lost_success", null], [[116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176], "collision", [0.08, 0.1, 0.15, 0.18, 0.03, 0.18, 0.1, 0.16, 0.02, 0.06, 0.12, 0.02, 0.05, 0.12, 0.12, 0.22, 0.19, 0.16, 0.01, 0.19, 0.21, 0.02, 0.19, 0.18, 0.19, 0.01, 0.02, 0.08, 0.14, 0.04, 0.03, 0.05, 0.06, 0.08, 0.05, 0.08, 0.08, 0.04, 0.08, 0.08, 0.19, 0.01, 0.08, 0.13, 0.0, 0.02, 0.02, 0.18, 0.16, 0.04, 0.01, 0.31, 0.04, 0.04, 0.16, 0.02, 0.19, 0.24, 0.11]], [177, "success", null], [[177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187], "collision", [0.2, 0.03, 0.06, 0.03, 0.17, 0.22, 0.11, 0.0, 0.17, 0.11, 0.07]], [189, "lost_success", null], [[189, 190], "collision", [0.09, 0.01]], [191, "success", null], [[191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.05, 0.0, 0.21, 0.15, 0.17, 0.0, 0.01, 0.0, 0.19]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 518, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 47, + "init_config_idx": 2, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[31, 32], "collision", [250.48, 91.7]], [41, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [54, "lost_success", null], [[54], "collision", [645.4]], [55, "success", null], [[55, 56, 57, 58, 108, 109, 111, 112, 113, 114, 115], "collision", [56.74, 53.95, 80.53, 89.78, 53.23, 93.07, 178.91, 118.0, 56.2, 74.89, 32.64]], [123, "lost_success", null], [128, "success", null], [159, "lost_success", null], [162, "success", null], [167, "lost_success", null], [168, "success", null], [172, "lost_success", null], [[178, 179, 181, 188, 193, 194, 195, 196, 197, 198], "collision", [279.47, 328.61, 191.51, 203.46, 470.06, 56.98, 27.89, 37.09, 14.5, 15.05]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 519, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 10, + "init_config_idx": 30, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "lost_contact", null], [17, "contact", null], [19, "lost_contact", null], [20, "contact", null], [22, "grasped", null], [36, "success", null], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [47, "success", null], [48, "lost_success", null], [52, "success", null], [56, "lost_success", null], [[56, 57], "collision", [116.22, 87.24]], [58, "success", null], [[58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71], "collision", [64.93, 71.97, 48.59, 28.25, 27.66, 32.19, 22.02, 25.03, 24.82, 18.02, 10.79, 13.63, 10.74, 15.67]], [84, "lost_success", null], [85, "success", null], [88, "lost_success", null], [89, "success", null], [94, "lost_success", null], [95, "success", null], [104, "lost_success", null], [106, "success", null], [112, "lost_success", null], [122, "success", null], [133, "lost_success", null], [138, "success", null], [157, "lost_success", null], [171, "success", null], [180, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 520, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 4, + "init_config_idx": 35, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [[32, 33, 34, 35, 36, 37], "collision", [91.91, 97.33, 96.62, 108.25, 103.52, 103.65]], [43, "success", null], [54, "lost_success", null], [55, "success", null], [164, "lost_success", null], [165, "success", null], [168, "lost_success", null], [169, "success", null], [170, "lost_success", null], [173, "success", null], [180, "lost_success", null], [189, "success", null], [192, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 521, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 16, + "init_config_idx": 11, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [204.85, 210.34]], [12, "contact", null], [13, "grasped", null], [[17, 18, 19, 21], "collision", [775.11, 833.39, 629.9, 765.97]], [28, "success", null], [[36, 37, 38], "collision", [39.27, 5.17, 4.88]], [39, "lost_success", null], [[39], "collision", [5.13]], [40, "success", null], [[40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53], "collision", [5.05, 5.1, 5.04, 5.12, 5.12, 5.07, 5.05, 5.09, 5.03, 5.11, 5.03, 5.08, 5.13, 5.06]], [54, "lost_success", null], [[54, 55, 56], "collision", [5.03, 5.05, 5.1]], [57, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [5.04, 5.05, 5.03, 5.13, 5.03, 5.11, 5.13, 5.05, 5.1, 5.02, 5.03, 5.12, 5.09, 5.04, 5.03, 5.09, 5.12, 5.12, 5.04, 5.12, 5.03, 5.06, 5.1, 5.12, 5.05, 5.1, 5.09, 5.05, 5.13, 5.06, 5.05, 5.1]], [89, "lost_success", null], [[89], "collision", [5.04]], [90, "success", null], [[90], "collision", [5.06]], [91, "lost_success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [5.1, 5.05, 5.1, 5.12, 5.07, 5.03, 5.06, 5.1, 5.09]], [100, "success", null], [[100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [5.06, 5.12, 5.03, 5.09, 5.05, 5.03, 5.06, 5.1, 5.11, 5.07, 5.1]], [111, "lost_success", null], [[111, 112], "collision", [5.02, 5.05]], [113, "success", null], [[113, 114, 115, 116], "collision", [5.12, 5.13, 5.03, 5.11]], [117, "lost_success", null], [[117], "collision", [5.02]], [118, "success", null], [[118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132], "collision", [5.11, 5.04, 5.1, 5.04, 5.12, 5.03, 5.05, 5.1, 5.1, 5.12, 5.07, 5.09, 5.09, 5.02, 5.12]], [133, "lost_success", null], [[133], "collision", [5.05]], [134, "success", null], [[134, 135], "collision", [5.06, 5.07]], [136, "lost_success", null], [[136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187], "collision", [5.1, 5.07, 5.1, 5.1, 5.11, 5.06, 5.09, 5.09, 5.06, 5.03, 5.1, 5.1, 5.09, 5.11, 5.05, 5.03, 5.09, 5.05, 5.06, 5.1, 5.07, 5.04, 5.09, 5.12, 5.12, 5.04, 5.12, 5.12, 5.03, 5.09, 5.07, 5.03, 5.09, 5.11, 5.03, 5.04, 5.06, 5.03, 5.09, 5.05, 5.04, 5.1, 5.09, 5.04, 5.11, 5.12, 5.07, 5.13, 5.06, 5.12, 5.04, 5.1]], [188, "success", null], [[188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [5.09, 5.1, 5.13, 5.04, 5.04, 5.04, 5.05, 5.03, 5.1, 5.03, 5.11, 5.05]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 522, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 38, + "init_config_idx": 35, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [451.81, 189.83, 98.72]], [14, "contact", null], [20, "lost_contact", null], [22, "contact", null], [23, "lost_contact", null], [34, "contact", null], [37, "lost_contact", null], [89, "contact", null], [90, "lost_contact", null], [91, "contact", null], [91, "grasped", null], [138, "success", null], [152, "lost_success", null], [154, "success", null], [155, "lost_success", null], [156, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 523, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 2, + "init_config_idx": 9, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [235.29]], [20, "contact", null], [21, "lost_contact", null], [22, "contact", null], [25, "grasped", null], [43, "success", null], [45, "lost_success", null], [51, "success", null], [58, "lost_success", null], [62, "success", null], [64, "lost_success", null], [115, "success", null], [135, "lost_success", null], [153, "success", null], [158, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 524, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 7, + "init_config_idx": 10, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 13, 16, 17, 18], "collision", [375.51, 331.3, 220.96, 202.32, 119.07]], [22, "contact", null], [[22], "collision", [1635.14]], [23, "grasped", null], [[27], "collision", [47.5]], [59, "success", null], [60, "lost_success", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [73, "lost_success", null], [89, "success", null], [93, "lost_success", null], [94, "success", null], [97, "lost_success", null], [100, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [109, "success", null], [117, "lost_success", null], [120, "success", null], [179, "lost_success", null], [188, "success", null], [190, "lost_success", null], [191, "success", null], [192, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 525, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 6, + "init_config_idx": 29, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[23], "collision", [1.83]], [26, "contact", null], [27, "grasped", null], [[30, 31, 32, 33, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [130.71, 140.67, 65.38, 64.61, 70.13, 85.91, 91.85, 78.96, 104.37, 99.62, 120.36, 123.33, 110.17]], [57, "success", null], [62, "lost_success", null], [63, "success", null], [71, "lost_success", null], [72, "success", null], [130, "lost_success", null], [134, "success", null], [135, "lost_success", null], [137, "success", null], [151, "lost_success", null], [183, "success", null], [184, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 526, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 9, + "init_config_idx": 30, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [[20], "collision", [298.5]], [31, "success", null], [44, "lost_success", null], [45, "success", null], [46, "lost_success", null], [50, "success", null], [53, "lost_success", null], [55, "success", null], [56, "lost_success", null], [62, "success", null], [70, "lost_success", null], [89, "success", null], [92, "lost_success", null], [98, "success", null], [101, "lost_success", null], [102, "success", null], [107, "lost_success", null], [109, "success", null], [115, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 527, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 23, + "init_config_idx": 35, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [284.18, 82.16, 81.73, 74.59, 83.61, 81.67, 91.71, 82.69, 85.04, 97.98]], [52, "success", null], [58, "lost_success", null], [61, "success", null], [63, "lost_success", null], [64, "success", null], [68, "lost_success", null], [72, "success", null], [79, "lost_success", null], [82, "success", null], [90, "lost_success", null], [103, "success", null], [114, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 528, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 33, + "init_config_idx": 10, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [[17], "collision", [210.15]], [18, "grasped", null], [[28], "collision", [27.36]], [42, "success", null], [47, "lost_success", null], [48, "success", null], [50, "lost_success", null], [55, "success", null], [96, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 529, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 52, + "init_config_idx": 41, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [194.1]], [12, "contact", null], [12, "grasped", null], [38, "success", null], [39, "lost_success", null], [51, "success", null], [52, "lost_success", null], [55, "success", null], [74, "lost_success", null], [85, "success", null], [86, "lost_success", null], [88, "success", null], [123, "lost_success", null], [124, "success", null], [125, "lost_success", null], [[188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [355.38, 178.87, 91.94, 98.6, 55.38, 32.48, 39.99, 42.1, 32.58, 30.06, 27.73]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 530, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 12, + "init_config_idx": 6, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [13, "grasped", null], [27, "success", null], [38, "lost_success", null], [46, "success", null], [[50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 72, 73], "collision", [83.79, 29.95, 77.6, 69.3, 134.82, 174.68, 133.59, 127.04, 152.3, 172.86, 155.21, 114.3, 125.25, 83.48, 78.25, 82.66, 48.98, 26.6, 35.78, 16.66, 60.96, 14.86]], [82, "lost_success", null], [83, "success", null], [[104, 105, 106, 107, 108, 110, 111, 112], "collision", [486.36, 35.35, 32.84, 50.08, 20.91, 20.28, 29.26, 4.99]], [122, "lost_success", null], [128, "success", null], [131, "lost_success", null], [134, "success", null], [142, "lost_success", null], [143, "success", null], [160, "lost_success", null], [161, "success", null], [170, "lost_success", null], [171, "success", null], [176, "lost_success", null], [177, "success", null], [181, "lost_success", null], [185, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 531, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 49, + "init_config_idx": 5, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [43, "success", null], [50, "lost_success", null], [[59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72], "collision", [30.64, 28.79, 33.29, 31.68, 37.35, 42.37, 43.07, 40.65, 42.34, 39.86, 39.18, 40.07, 60.49, 47.35]], [73, "success", null], [[73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [55.93, 55.04, 65.49, 53.79, 35.91, 34.68, 33.22, 34.65, 35.02, 35.56, 32.37, 32.7, 32.62, 32.4, 31.4, 31.84, 29.92, 30.52, 28.84, 28.25, 21.17, 20.77, 21.2, 17.15, 11.22, 2.56, 12.06, 20.1]], [101, "lost_success", null], [[101], "collision", [13.43]], [102, "success", null], [[102, 103, 104], "collision", [17.8, 14.46, 19.31]], [105, "lost_success", null], [[105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [13.58, 2.31, 6.95, 9.36, 12.17, 41.22, 36.15, 33.39, 37.99, 35.1]], [115, "success", null], [[115, 116], "collision", [14.55, 18.97]], [117, "lost_success", null], [119, "success", null], [138, "lost_success", null], [139, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [148, "success", null], [[148], "collision", [19.35]], [153, "lost_success", null], [154, "success", null], [164, "lost_success", null], [192, "success", null], [194, "lost_success", null], [195, "success", null], [197, "lost_success", null], [198, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 532, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 7, + "init_config_idx": 37, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[25], "collision", [180.38]], [37, "success", null], [38, "lost_success", null], [49, "success", null], [59, "lost_success", null], [63, "success", null], [73, "lost_success", null], [95, "success", null], [105, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 533, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 2, + "init_config_idx": 8, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5], "collision", [182.58, 570.59]], [43, "contact", null], [47, "lost_contact", null], [48, "contact", null], [49, "lost_contact", null], [53, "contact", null], [[53], "collision", [2965.65]], [55, "lost_contact", null], [56, "contact", null], [56, "grasped", null], [75, "success", null], [76, "lost_success", null], [79, "success", null], [86, "lost_success", null], [88, "success", null], [92, "lost_success", null], [97, "success", null], [111, "lost_success", null], [116, "success", null], [138, "lost_success", null], [158, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 534, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 37, + "init_config_idx": 41, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 20, 21, 22], "collision", [582.84, 333.03, 364.05, 308.42, 181.07]], [23, "contact", null], [[24], "collision", [9.33]], [25, "grasped", null], [89, "success", null], [90, "lost_success", null], [99, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [106, "lost_success", null], [107, "success", null], [116, "lost_success", null], [117, "success", null], [119, "lost_success", null], [120, "success", null], [126, "lost_success", null], [127, "success", null], [129, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [164, "lost_success", null], [166, "success", null], [168, "lost_success", null], [172, "success", null], [173, "lost_success", null], [174, "success", null], [176, "lost_success", null], [177, "success", null], [181, "lost_success", null], [182, "success", null], [185, "lost_success", null], [186, "success", null], [187, "lost_success", null], [188, "success", null], [192, "lost_success", null], [193, "success", null], [194, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 535, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 7, + "init_config_idx": 28, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [[18], "collision", [44.21]], [20, "grasped", null], [[27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [42.16, 72.95, 90.91, 92.45, 99.86, 103.19, 111.24, 115.16, 96.45, 43.95]], [42, "success", null], [67, "lost_success", null], [[67], "collision", [246.36]], [68, "success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [101.48, 81.31, 123.61, 73.48, 70.38, 109.66, 124.86, 103.02, 145.33, 134.64, 146.32, 123.77, 55.75, 168.33, 102.88, 54.52, 84.7, 57.74, 50.41, 41.01, 26.59, 15.42, 72.63, 86.62, 62.08, 48.58, 54.15, 72.91, 77.55, 68.35, 41.05, 43.09, 27.7]], [128, "lost_success", null], [133, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 536, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 38, + "init_config_idx": 4, + "spawn_selection_idx": 41, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [[26, 27, 28, 30, 35, 36, 37, 38, 39], "collision", [2111.69, 200.69, 206.71, 159.8, 178.82, 170.42, 88.64, 93.45, 90.73]], [47, "success", null], [54, "lost_success", null], [56, "success", null], [59, "lost_success", null], [61, "success", null], [65, "lost_success", null], [71, "success", null], [77, "lost_success", null], [90, "success", null], [106, "lost_success", null], [108, "success", null], [126, "lost_success", null], [185, "success", null], [186, "lost_success", null], [187, "success", null], [195, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 537, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 33, + "init_config_idx": 11, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [117.42]], [15, "contact", null], [16, "grasped", null], [30, "success", null], [101, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 538, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 56, + "init_config_idx": 22, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 4, 15], "collision", [513.56, 46.15, 123.83, 0.36]], [20, "contact", null], [22, "grasped", null], [[28], "collision", [86.7]], [39, "success", null], [41, "lost_success", null], [42, "success", null], [47, "lost_success", null], [50, "success", null], [54, "lost_success", null], [57, "success", null], [58, "lost_success", null], [59, "success", null], [60, "lost_success", null], [74, "success", null], [77, "lost_success", null], [89, "success", null], [106, "lost_success", null], [110, "success", null], [117, "lost_success", null], [122, "success", null], [137, "lost_success", null], [140, "success", null], [148, "lost_success", null], [178, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 539, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 0, + "init_config_idx": 1, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [44, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [59, "success", null], [[75, 76, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [2.55, 26.84, 81.58, 86.16, 77.28, 107.21, 65.8, 56.52, 48.81, 63.12, 63.85, 17.7]], [106, "lost_success", null], [111, "success", null], [127, "lost_success", null], [128, "success", null], [132, "lost_success", null], [137, "success", null], [141, "lost_success", null], [144, "success", null], [151, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 540, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 13, + "init_config_idx": 17, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "grasped", null], [[14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "collision", [4.7, 2.02, 2.0, 1.69, 1.71, 1.77, 1.65, 0.87, 0.58, 548.56, 140.39, 109.45, 136.5, 130.45, 104.47, 1.61, 1.31]], [31, "success", null], [[31], "collision", [1.66]], [32, "lost_success", null], [[32], "collision", [1.39]], [33, "success", null], [[33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44], "collision", [0.95, 0.77, 0.73, 0.6, 0.85, 1.36, 1.58, 2.03, 1.99, 1.76, 1.55, 1.46]], [45, "lost_success", null], [[45], "collision", [18.77]], [46, "success", null], [[46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70], "collision", [13.81, 1.43, 1.66, 1.73, 1.74, 1.75, 72.89, 29.32, 30.16, 1.63, 1.65, 1.79, 1.66, 1.67, 1.73, 1.69, 1.68, 1.74, 1.88, 1.71, 1.44, 1.52, 1.63, 1.62, 1.67]], [71, "lost_success", null], [[71], "collision", [1.63]], [72, "success", null], [[72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [1.65, 1.72, 1.64, 1.64, 1.81, 1.82, 1.89, 1.61, 1.41, 1.29, 1.67, 1.55, 1.6, 1.78, 1.7, 1.65, 1.57, 1.76, 1.79, 1.77, 1.77, 1.76, 1.84]], [95, "lost_success", null], [[95, 96, 97], "collision", [1.61, 1.65, 1.71]], [98, "success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [1.56, 1.62, 1.73, 1.6, 1.69, 1.72, 1.63, 1.71, 1.79, 1.85, 1.82, 1.8, 1.75, 1.72, 1.83, 1.76, 1.78]], [115, "lost_success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168], "collision", [1.74, 1.87, 1.77, 1.87, 2.13, 2.13, 2.12, 2.16, 2.16, 2.22, 2.11, 1.85, 1.88, 1.94, 1.82, 1.6, 7.48, 1.55, 141.12, 1.68, 1.69, 83.26, 65.68, 2.35, 64.67, 31.14, 30.76, 48.8, 39.66, 3.11, 14.54, 3.04, 2.98, 2.61, 2.14, 2.17, 2.79, 2.75, 2.78, 16.97, 2.75, 2.59, 1.97, 1.73, 1.75, 1.96, 2.23, 2.08, 1.62, 2.31, 2.82, 2.88, 1.59, 1.86]], [169, "success", null], [[169, 170], "collision", [1.2, 1.95]], [171, "lost_success", null], [[171], "collision", [1.7]], [172, "success", null], [[172], "collision", [1.8]], [173, "lost_success", null], [[173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [1.75, 1.75, 2.01, 1.89, 2.05, 2.04, 2.41, 2.56, 2.42, 2.04, 2.64, 1.98, 1.6, 1.8, 1.45, 1.5, 1.33, 0.98, 0.85, 0.92, 0.95, 0.74, 1.15, 1.66, 1.46, 1.37, 1.62]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 541, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 33, + "init_config_idx": 37, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [36, "success", null], [49, "lost_success", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [54, "lost_success", null], [55, "success", null], [58, "lost_success", null], [70, "success", null], [79, "lost_success", null], [83, "success", null], [122, "lost_success", null], [[135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150], "collision", [10.65, 8.46, 8.69, 8.83, 6.05, 6.57, 5.12, 6.67, 6.64, 7.35, 6.59, 6.71, 7.33, 6.85, 7.61, 6.7]], [151, "success", null], [[151, 152, 153, 154, 155, 161, 166], "collision", [6.02, 5.89, 6.41, 4.32, 2.44, 6.37, 6.57]], [169, "lost_success", null], [[169, 170, 171, 173, 174, 175, 176, 177, 178, 179], "collision", [8.97, 8.22, 10.83, 7.07, 12.03, 5.97, 5.92, 3.58, 4.43, 4.6]], [180, "success", null], [[180], "collision", [3.07]], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 542, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 6, + "init_config_idx": 1, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 12], "collision", [300.25, 196.3, 207.55, 184.38, 163.97]], [18, "contact", null], [19, "grasped", null], [[21], "collision", [53.05]], [39, "success", null], [40, "lost_success", null], [42, "success", null], [51, "lost_success", null], [53, "success", null], [54, "lost_success", null], [55, "success", null], [60, "lost_success", null], [65, "success", null], [90, "lost_success", null], [97, "success", null], [99, "lost_success", null], [[101, 102, 103], "collision", [30.67, 59.39, 74.1]], [105, "success", null], [109, "lost_success", null], [112, "success", null], [158, "lost_success", null], [159, "success", null], [164, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 543, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 21, + "init_config_idx": 12, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 9, 22], "collision", [868.45, 74.62, 896.48, 839.61, 685.03, 441.5, 117.08]], [23, "contact", null], [23, "grasped", null], [[23, 24], "collision", [35.8, 46.84]], [40, "success", null], [54, "lost_success", null], [64, "success", null], [[68], "collision", [83.53]], [69, "lost_success", null], [[69, 70], "collision", [51.77, 48.72]], [73, "success", null], [74, "lost_success", null], [75, "success", null], [84, "lost_success", null], [85, "success", null], [86, "lost_success", null], [90, "success", null], [91, "lost_success", null], [93, "success", null], [97, "lost_success", null], [99, "success", null], [100, "lost_success", null], [104, "success", null], [113, "lost_success", null], [118, "success", null], [122, "lost_success", null], [131, "success", null], [137, "lost_success", null], [139, "success", null], [158, "lost_success", null], [160, "success", null], [171, "lost_success", null], [185, "success", null], [192, "lost_success", null], [193, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 544, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 32, + "init_config_idx": 34, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 12], "collision", [1434.4, 386.25, 312.67, 141.13, 231.75]], [20, "contact", null], [20, "grasped", null], [[20], "collision", [5.27]], [35, "success", null], [42, "lost_success", null], [48, "success", null], [61, "lost_success", null], [63, "success", null], [75, "lost_success", null], [76, "success", null], [78, "lost_success", null], [79, "success", null], [83, "lost_success", null], [85, "success", null], [86, "lost_success", null], [88, "success", null], [92, "lost_success", null], [93, "success", null], [99, "lost_success", null], [103, "success", null], [125, "lost_success", null], [132, "success", null], [150, "lost_success", null], [183, "success", null], [191, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 545, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 53, + "init_config_idx": 8, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[1, 3, 4, 5, 6, 7, 8, 9, 10], "collision", [1484.34, 325.79, 430.11, 253.81, 344.4, 222.3, 120.7, 80.3, 226.21]], [13, "contact", null], [14, "grasped", null], [29, "success", null], [36, "lost_success", null], [38, "success", null], [81, "lost_success", null], [88, "success", null], [92, "lost_success", null], [102, "success", null], [108, "lost_success", null], [129, "success", null], [133, "lost_success", null], [[146], "collision", [368.45]], [150, "success", null], [151, "lost_success", null], [[152, 154], "collision", [5.09, 33.91]], [158, "success", null], [161, "lost_success", null], [[171, 172, 173, 174, 176], "collision", [25.53, 29.91, 8.06, 8.83, 7.37]], [186, "success", null], [[194, 196], "collision", [58.71, 31.05]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 546, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 56, + "init_config_idx": 19, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17], "collision", [75.72, 382.34]], [21, "contact", null], [22, "grasped", null], [45, "success", null], [46, "lost_success", null], [47, "success", null], [51, "lost_success", null], [53, "success", null], [58, "lost_success", null], [59, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [65, "success", null], [[65, 66, 67, 68, 69], "collision", [61.33, 78.52, 42.06, 47.85, 55.96]], [70, "lost_success", null], [[70, 72, 74, 76, 77, 79, 80, 82], "collision", [62.58, 124.0, 35.63, 42.99, 82.66, 28.64, 28.4, 68.09]], [96, "success", null], [98, "lost_success", null], [99, "success", null], [105, "lost_success", null], [106, "success", null], [114, "lost_success", null], [116, "success", null], [123, "lost_success", null], [125, "success", null], [143, "lost_success", null], [144, "success", null], [148, "lost_success", null], [149, "success", null], [153, "lost_success", null], [156, "success", null], [162, "lost_success", null], [173, "success", null], [174, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 547, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 34, + "init_config_idx": 7, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22], "collision", [3.43]], [26, "contact", null], [[26], "collision", [4.64]], [27, "grasped", null], [[28], "collision", [6.46]], [51, "success", null], [53, "lost_success", null], [[54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [0.87, 0.24, 0.37, 0.32, 0.21, 1.78, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 0.89, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [1.18, 1.18, 1.18, 1.18, 1.16, 1.18, 1.55, 1.18, 1.18, 1.18, 1.18, 1.17, 1.04]], [90, "lost_success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122], "collision", [1.18, 1.17, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.19, 1.18, 1.18, 1.18, 1.17, 1.18, 1.19, 1.18, 1.17, 1.18, 1.18, 1.19, 1.17, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.16, 1.18, 1.18]], [123, "success", null], [[123, 124, 125, 126, 127, 128, 129, 130, 131], "collision", [1.18, 1.18, 1.18, 0.99, 1.18, 1.18, 0.99, 1.18, 1.03]], [132, "lost_success", null], [[132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [1.19, 1.18, 1.18, 1.17, 1.18, 1.18, 1.18, 1.18, 1.19, 1.18, 1.17, 1.18, 1.18, 1.17, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.56, 1.18, 1.18, 1.19, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.19, 1.18, 1.17, 1.19, 1.18, 1.18, 1.17, 1.18, 1.18, 1.16, 1.18, 1.18, 1.17, 1.19, 1.18]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 548, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 8, + "init_config_idx": 2, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [184, "success", null], [186, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 549, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 58, + "init_config_idx": 27, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [41, "success", null], [45, "lost_success", null], [56, "success", null], [[64, 66, 72, 74, 76, 77, 80], "collision", [12.35, 76.38, 187.22, 15.5, 11.04, 91.78, 21.88]], [83, "lost_success", null], [93, "success", null], [94, "lost_success", null], [116, "success", null], [134, "lost_success", null], [137, "success", null], [173, "lost_success", null], [174, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 550, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 49, + "init_config_idx": 12, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [[31, 32, 33, 34, 35], "collision", [164.0, 90.51, 84.83, 86.48, 101.11]], [40, "success", null], [50, "lost_success", null], [51, "success", null], [54, "lost_success", null], [64, "success", null], [69, "lost_success", null], [73, "success", null], [74, "lost_success", null], [87, "success", null], [98, "lost_success", null], [193, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 551, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 27, + "init_config_idx": 40, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 9, 10, 11, 12, 13, 14, 15, 16], "collision", [429.49, 641.94, 172.56, 267.16, 534.35, 267.74, 165.11, 168.02, 160.52]], [20, "contact", null], [20, "grasped", null], [[33, 34, 35], "collision", [101.03, 89.48, 57.18]], [57, "success", null], [58, "lost_success", null], [77, "success", null], [80, "lost_success", null], [85, "success", null], [94, "lost_success", null], [96, "success", null], [97, "lost_success", null], [108, "success", null], [150, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 552, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 60, + "init_config_idx": 28, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "lost_contact", null], [13, "contact", null], [14, "lost_contact", null], [[32], "collision", [611.13]], [44, "contact", null], [45, "lost_contact", null], [46, "contact", null], [46, "grasped", null], [[53, 59, 60, 61, 62, 68, 69, 70, 71, 72, 73, 74, 75], "collision", [194.02, 465.66, 48.13, 82.56, 22.23, 18.91, 22.46, 35.19, 30.89, 26.79, 20.14, 11.35, 31.16]], [85, "success", null], [89, "lost_success", null], [104, "success", null], [106, "lost_success", null], [108, "success", null], [114, "lost_success", null], [148, "success", null], [150, "lost_success", null], [176, "success", null], [177, "lost_success", null], [178, "success", null], [179, "lost_success", null], [184, "success", null], [185, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 553, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 42, + "init_config_idx": 19, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[26, 27, 28, 29, 30], "collision", [615.39, 176.3, 115.48, 105.77, 89.54]], [34, "success", null], [44, "lost_success", null], [53, "success", null], [55, "lost_success", null], [58, "success", null], [60, "lost_success", null], [63, "success", null], [65, "lost_success", null], [68, "success", null], [70, "lost_success", null], [[97, 98, 99, 100, 101], "collision", [14.93, 5.24, 107.63, 21.98, 21.8]], [104, "success", null], [107, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 554, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 45, + "init_config_idx": 12, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [1147.43, 183.1, 74.03]], [11, "contact", null], [12, "lost_contact", null], [14, "contact", null], [14, "grasped", null], [[16, 17, 18, 19, 20, 22], "collision", [36.37, 22.59, 450.31, 316.96, 178.26, 38.41]], [33, "success", null], [50, "lost_success", null], [52, "success", null], [58, "lost_success", null], [63, "success", null], [65, "lost_success", null], [73, "success", null], [96, "lost_success", null], [101, "success", null], [122, "lost_success", null], [132, "success", null], [133, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 555, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 13, + "init_config_idx": 28, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 17, 18, 19], "collision", [14.05, 1787.92, 170.15, 185.84]], [23, "contact", null], [25, "grasped", null], [[27], "collision", [1.3]], [52, "success", null], [53, "lost_success", null], [61, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [76, "success", null], [82, "lost_success", null], [87, "success", null], [91, "lost_success", null], [92, "success", null], [93, "lost_success", null], [94, "success", null], [97, "lost_success", null], [105, "success", null], [128, "lost_success", null], [129, "success", null], [133, "lost_success", null], [141, "success", null], [143, "lost_success", null], [144, "success", null], [155, "lost_success", null], [156, "success", null], [166, "lost_success", null], [168, "success", null], [179, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 556, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 61, + "init_config_idx": 54, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5], "collision", [424.28, 192.2, 189.32]], [14, "contact", null], [15, "grasped", null], [[24, 25, 27], "collision", [143.03, 140.25, 279.08]], [33, "success", null], [40, "lost_success", null], [41, "success", null], [59, "lost_success", null], [63, "success", null], [[119, 120, 121], "collision", [8.7, 8.31, 8.62]], [124, "lost_success", null], [125, "success", null], [[125, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141], "collision", [5.52, 7.95, 3.54, 9.45, 8.57, 9.21, 10.24, 8.61, 9.92, 7.47, 9.76, 8.9, 8.13, 9.83, 6.89, 7.16]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 557, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 10, + "init_config_idx": 45, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 17], "collision", [256.59, 219.99, 119.13]], [18, "contact", null], [20, "grasped", null], [37, "success", null], [44, "lost_success", null], [49, "success", null], [88, "lost_success", null], [90, "success", null], [102, "lost_success", null], [103, "success", null], [112, "lost_success", null], [113, "success", null], [114, "lost_success", null], [118, "success", null], [[119, 120, 121], "collision", [6.6, 7.95, 8.44]], [122, "lost_success", null], [[122], "collision", [7.54]], [123, "success", null], [[123], "collision", [8.12]], [124, "lost_success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142], "collision", [7.05, 7.63, 7.07, 10.35, 7.98, 8.71, 7.21, 6.56, 5.8, 5.63, 6.5, 6.95, 6.9, 7.47, 8.31, 7.3, 7.31, 6.94, 5.57]], [143, "success", null], [[143, 144, 145, 146, 147, 148, 149, 150], "collision", [6.45, 6.34, 6.93, 7.57, 6.98, 6.61, 6.16, 5.56]], [156, "lost_success", null], [157, "success", null], [180, "lost_success", null], [182, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 558, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 29, + "init_config_idx": 13, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 18], "collision", [1010.0, 286.31, 187.49, 178.27, 739.02]], [19, "contact", null], [19, "grasped", null], [34, "success", null], [40, "lost_success", null], [41, "success", null], [47, "lost_success", null], [48, "success", null], [53, "lost_success", null], [54, "success", null], [60, "lost_success", null], [63, "success", null], [84, "lost_success", null], [89, "success", null], [110, "lost_success", null], [125, "success", null], [181, "lost_success", null], [183, "success", null], [187, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 559, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 4, + "init_config_idx": 18, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 11, 16], "collision", [224.19, 365.42, 171.67, 564.97, 267.66, 362.91, 161.6]], [17, "contact", null], [18, "lost_contact", null], [19, "contact", null], [19, "grasped", null], [[19, 23, 24, 25], "collision", [0.21, 351.34, 329.23, 223.39]], [34, "success", null], [40, "lost_success", null], [43, "success", null], [94, "lost_success", null], [101, "success", null], [105, "lost_success", null], [109, "success", null], [111, "lost_success", null], [121, "success", null], [125, "lost_success", null], [138, "success", null], [150, "lost_success", null], [[194, 195, 196, 197, 198, 199], "collision", [126.13, 129.36, 152.51, 151.67, 146.97, 134.4]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 560, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 16, + "init_config_idx": 31, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7], "collision", [464.97, 208.9, 111.23]], [10, "contact", null], [[10], "collision", [2036.83]], [11, "grasped", null], [39, "success", null], [44, "lost_success", null], [49, "success", null], [69, "lost_success", null], [71, "success", null], [83, "lost_success", null], [99, "success", null], [100, "lost_success", null], [107, "success", null], [108, "lost_success", null], [109, "success", null], [114, "lost_success", null], [154, "success", null], [180, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 561, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 29, + "init_config_idx": 1, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "grasped", null], [28, "success", null], [35, "lost_success", null], [37, "success", null], [39, "lost_success", null], [59, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [73, "success", null], [83, "lost_success", null], [91, "success", null], [99, "lost_success", null], [101, "success", null], [121, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 562, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 2, + "init_config_idx": 48, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 13], "collision", [327.12, 227.76, 226.98, 166.51, 355.47, 8.95]], [15, "contact", null], [17, "grasped", null], [[22, 25, 26], "collision", [142.78, 36.73, 70.88]], [31, "success", null], [32, "lost_success", null], [34, "success", null], [40, "lost_success", null], [41, "success", null], [49, "lost_success", null], [50, "success", null], [53, "lost_success", null], [55, "success", null], [58, "lost_success", null], [59, "success", null], [[82, 83], "collision", [47.71, 61.57]], [85, "lost_success", null], [91, "success", null], [102, "lost_success", null], [103, "success", null], [108, "lost_success", null], [118, "success", null], [179, "lost_success", null], [183, "success", null], [184, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 563, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 39, + "init_config_idx": 33, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [341.28, 188.43]], [14, "contact", null], [14, "grasped", null], [47, "success", null], [50, "lost_success", null], [51, "success", null], [65, "lost_success", null], [70, "success", null], [78, "lost_success", null], [79, "success", null], [87, "lost_success", null], [92, "success", null], [108, "lost_success", null], [118, "success", null], [130, "lost_success", null], [132, "success", null], [146, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 564, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 20, + "init_config_idx": 42, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [3.61]], [18, "contact", null], [23, "grasped", null], [[28], "collision", [3.91]], [45, "success", null], [49, "lost_success", null], [52, "success", null], [119, "lost_success", null], [131, "success", null], [158, "lost_success", null], [160, "success", null], [167, "lost_success", null], [168, "success", null], [177, "lost_success", null], [181, "success", null], [182, "lost_success", null], [192, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 565, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 43, + "init_config_idx": 37, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [46, "success", null], [49, "lost_success", null], [[69, 70, 71], "collision", [39.93, 57.36, 48.46]], [72, "success", null], [[72], "collision", [49.26]], [73, "lost_success", null], [[73, 74, 75], "collision", [53.35, 59.73, 41.75]], [76, "success", null], [[76, 77, 78, 79, 80], "collision", [32.12, 28.42, 34.44, 33.44, 39.72]], [81, "lost_success", null], [[81, 82], "collision", [35.81, 57.9]], [83, "success", null], [[83, 84, 85, 86, 87, 88], "collision", [54.4, 64.12, 51.27, 44.38, 18.21, 15.94]], [92, "lost_success", null], [93, "success", null], [[96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [31.93, 55.12, 56.69, 29.76, 24.33, 11.93, 18.67, 18.12, 29.19, 21.32, 46.41, 28.73, 22.84, 20.13, 18.52]], [132, "lost_success", null], [137, "success", null], [141, "lost_success", null], [142, "success", null], [154, "lost_success", null], [155, "success", null], [162, "lost_success", null], [163, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 566, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 30, + "init_config_idx": 27, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[25, 26], "collision", [554.65, 852.93]], [27, "contact", null], [[27], "collision", [726.09]], [29, "grasped", null], [77, "success", null], [92, "lost_success", null], [93, "success", null], [95, "lost_success", null], [97, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [155, "success", null], [159, "lost_success", null], [165, "success", null], [182, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 567, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 15, + "init_config_idx": 28, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [31, "success", null], [33, "lost_success", null], [35, "success", null], [40, "lost_success", null], [41, "success", null], [50, "lost_success", null], [[61, 62, 63], "collision", [309.66, 74.55, 106.96]], [64, "success", null], [[64, 65, 66, 67], "collision", [155.8, 199.7, 237.3, 189.94]], [68, "lost_success", null], [[68, 69], "collision", [167.2, 111.46]], [70, "success", null], [[70], "collision", [77.2]], [71, "lost_success", null], [[71, 72], "collision", [122.98, 97.32]], [73, "success", null], [[73, 74, 75, 76], "collision", [112.18, 120.57, 119.05, 114.82]], [78, "lost_success", null], [[78], "collision", [198.0]], [79, "success", null], [[79, 80, 81, 92, 93], "collision", [146.84, 98.31, 6.42, 367.16, 18.8]], [118, "lost_success", null], [135, "success", null], [162, "lost_success", null], [164, "success", null], [167, "lost_success", null], [170, "success", null], [178, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 568, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 50, + "init_config_idx": 19, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [25, "grasped", null], [59, "success", null], [122, "lost_success", null], [131, "success", null], [138, "lost_success", null], [161, "success", null], [162, "lost_success", null], [181, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 569, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 42, + "init_config_idx": 2, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [35, "success", null], [41, "lost_success", null], [[62, 64, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [89.73, 54.03, 32.27, 43.16, 32.8, 29.92, 33.46, 33.3, 30.11, 28.83, 29.91, 34.86, 32.39, 31.16, 23.61, 28.82, 28.95, 28.99, 29.25, 28.13, 27.01, 27.79, 14.71, 19.94]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95], "collision", [7.96, 22.84, 26.37, 28.09, 24.44, 22.34, 16.81]], [111, "lost_success", null], [112, "success", null], [123, "lost_success", null], [124, "success", null], [125, "lost_success", null], [130, "success", null], [[180, 181, 182, 183, 184, 185], "collision", [39.36, 37.87, 50.79, 28.74, 88.88, 33.69]], [186, "lost_success", null], [[186], "collision", [89.34]], [187, "success", null], [[187, 189, 190, 191], "collision", [48.85, 82.35, 24.16, 35.44]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 570, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 28, + "init_config_idx": 9, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 11], "collision", [162.32, 238.54, 123.16]], [16, "contact", null], [17, "grasped", null], [32, "success", null], [51, "lost_success", null], [52, "success", null], [75, "lost_success", null], [86, "success", null], [93, "lost_success", null], [94, "success", null], [169, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 571, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 18, + "init_config_idx": 47, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16], "collision", [638.44, 211.61, 295.03, 210.08, 161.01]], [19, "contact", null], [[19], "collision", [5.44]], [21, "grasped", null], [38, "success", null], [42, "lost_success", null], [46, "success", null], [51, "lost_success", null], [55, "success", null], [59, "lost_success", null], [60, "success", null], [63, "lost_success", null], [65, "success", null], [66, "lost_success", null], [[66], "collision", [272.71]], [67, "success", null], [[67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [47.43, 22.16, 32.49, 29.12, 28.47, 38.41, 71.01, 66.34, 47.14, 64.13, 88.29, 99.92, 92.03, 56.28, 45.45, 55.27, 30.75, 29.39, 26.16, 31.15, 35.81]], [88, "lost_success", null], [[88, 89], "collision", [31.85, 37.23]], [90, "success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140], "collision", [38.83, 29.44, 31.83, 36.88, 25.04, 37.52, 28.51, 24.77, 23.77, 27.37, 25.87, 27.86, 18.24, 25.87, 24.22, 23.46, 25.77, 33.81, 30.38, 23.47, 31.74, 17.59, 18.46, 18.47, 29.69, 32.05, 28.19, 25.93, 19.77, 31.43, 39.75, 37.02, 25.81, 26.81, 30.83, 30.73, 24.1, 27.94, 27.08, 32.02, 33.47, 30.39, 30.23, 25.21, 28.61, 26.93, 31.07, 38.03, 37.19, 36.23, 43.14]], [141, "lost_success", null], [[141, 142, 143, 144, 145], "collision", [36.61, 27.29, 19.25, 23.0, 17.88]], [146, "success", null], [[146], "collision", [12.24]], [147, "lost_success", null], [[147], "collision", [21.03]], [148, "success", null], [[148], "collision", [12.0]], [149, "lost_success", null], [[149, 150, 151], "collision", [24.78, 14.27, 12.72]], [157, "success", null], [159, "lost_success", null], [160, "success", null], [163, "lost_success", null], [167, "success", null], [[167], "collision", [23.92]], [168, "lost_success", null], [[168], "collision", [14.94]], [169, "success", null], [[169, 170, 171, 173, 174, 175, 176, 177, 178, 179], "collision", [19.8, 6.62, 10.55, 29.11, 18.08, 13.87, 4.76, 17.61, 10.63, 2.23]], [181, "lost_success", null], [185, "success", null], [190, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 572, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 36, + "init_config_idx": 21, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "lost_contact", null], [20, "contact", null], [21, "grasped", null], [[21], "collision", [104.8]], [66, "success", null], [67, "lost_success", null], [68, "success", null], [69, "lost_success", null], [120, "success", null], [144, "lost_success", null], [182, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 573, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 24, + "init_config_idx": 39, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [96.28]], [16, "contact", null], [18, "grasped", null], [33, "success", null], [66, "lost_success", null], [73, "success", null], [74, "lost_success", null], [75, "success", null], [77, "lost_success", null], [78, "success", null], [81, "lost_success", null], [82, "success", null], [83, "lost_success", null], [104, "success", null], [[108, 109, 110, 111], "collision", [130.89, 44.92, 5.7, 34.13]], [112, "lost_success", null], [[112, 113], "collision", [38.72, 45.6]], [114, "success", null], [[116, 119, 120], "collision", [10.55, 44.84, 13.74]], [121, "lost_success", null], [[121], "collision", [14.44]], [122, "success", null], [[122, 124], "collision", [5.98, 1.16]], [126, "lost_success", null], [[126], "collision", [26.25]], [127, "success", null], [[128, 129, 135], "collision", [22.73, 7.78, 2.01]], [159, "lost_success", null], [167, "success", null], [169, "lost_success", null], [172, "success", null], [176, "lost_success", null], [[194, 195], "collision", [54.16, 12.05]], [197, "success", null], [[198], "collision", [6.7]], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 574, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 22, + "init_config_idx": 11, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [[29, 30, 32], "collision", [49.5, 53.12, 80.63]], [36, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [47, "success", null], [50, "lost_success", null], [51, "success", null], [53, "lost_success", null], [56, "success", null], [61, "lost_success", null], [62, "success", null], [[62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 76, 77, 79, 80, 81, 92, 110, 111], "collision", [115.09, 66.92, 52.92, 74.95, 78.36, 90.31, 284.73, 130.73, 89.43, 27.53, 72.1, 98.92, 29.19, 3.67, 0.6, 5.96, 82.69, 41.35, 42.11, 53.09, 32.55]], [179, "lost_success", null], [[188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [56.52, 65.9, 57.4, 81.55, 60.95, 71.47, 62.68, 30.29, 32.49, 38.25, 13.13, 49.87]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 575, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 8, + "init_config_idx": 43, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6], "collision", [944.72, 241.69, 990.58, 401.79]], [11, "contact", null], [14, "grasped", null], [28, "success", null], [30, "lost_success", null], [32, "success", null], [36, "lost_success", null], [37, "success", null], [[46], "collision", [62.3]], [47, "lost_success", null], [49, "success", null], [55, "lost_success", null], [60, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [73, "success", null], [77, "lost_success", null], [83, "success", null], [93, "lost_success", null], [102, "success", null], [114, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 576, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 6, + "init_config_idx": 22, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [24, "success", null], [25, "lost_success", null], [26, "success", null], [34, "lost_success", null], [35, "success", null], [36, "lost_success", null], [40, "success", null], [41, "lost_success", null], [45, "success", null], [46, "lost_success", null], [53, "success", null], [69, "lost_success", null], [77, "success", null], [92, "lost_success", null], [97, "success", null], [[114, 116], "collision", [283.62, 270.18]], [128, "lost_success", null], [130, "success", null], [142, "lost_success", null], [147, "success", null], [159, "lost_success", null], [161, "success", null], [172, "lost_success", null], [173, "success", null], [174, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 577, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 57, + "init_config_idx": 27, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [440.77, 215.52, 112.56, 71.34]], [14, "contact", null], [14, "grasped", null], [[18, 19, 20, 21], "collision", [816.33, 252.47, 283.22, 205.22]], [31, "success", null], [37, "lost_success", null], [[37], "collision", [121.99]], [38, "success", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49], "collision", [48.26, 43.72, 38.61, 41.29, 45.99, 41.84, 45.92, 59.21, 47.09, 42.62, 39.37, 42.99]], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [76, "success", null], [86, "lost_success", null], [91, "success", null], [95, "lost_success", null], [100, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [109, "lost_success", null], [110, "success", null], [115, "lost_success", null], [122, "success", null], [139, "lost_success", null], [140, "success", null], [142, "lost_success", null], [144, "success", null], [152, "lost_success", null], [153, "success", null], [155, "lost_success", null], [156, "success", null], [161, "lost_success", null], [166, "success", null], [179, "lost_success", null], [181, "success", null], [191, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 578, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 52, + "init_config_idx": 30, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [44, "success", null], [49, "lost_success", null], [[53, 54, 55, 56, 57, 59, 60, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [77.18, 123.1, 87.1, 73.62, 4.99, 59.02, 158.6, 103.49, 32.53, 153.6, 50.0, 53.97, 45.26, 90.99, 119.35, 126.95, 129.92, 129.99, 113.66, 77.49, 104.13, 84.63, 55.74]], [78, "success", null], [[78, 79, 80, 81, 82, 83, 84, 90, 91, 92, 93, 94, 95, 96], "collision", [67.34, 53.42, 56.85, 62.69, 66.96, 14.2, 38.04, 71.64, 72.18, 85.64, 57.83, 78.08, 53.06, 51.86]], [103, "lost_success", null], [104, "success", null], [[104, 105, 106, 107], "collision", [82.16, 69.12, 60.49, 59.25]], [108, "lost_success", null], [[108], "collision", [55.6]], [109, "success", null], [[109, 110], "collision", [48.3, 48.8]], [111, "lost_success", null], [[111], "collision", [53.17]], [112, "success", null], [[112, 113], "collision", [49.95, 42.7]], [117, "lost_success", null], [119, "success", null], [128, "lost_success", null], [131, "success", null], [136, "lost_success", null], [151, "success", null], [154, "lost_success", null], [165, "success", null], [168, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 579, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 22, + "init_config_idx": 12, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "lost_contact", null], [21, "contact", null], [23, "lost_contact", null], [24, "contact", null], [25, "lost_contact", null], [[25], "collision", [3.59]], [28, "contact", null], [29, "lost_contact", null], [30, "contact", null], [31, "grasped", null], [54, "success", null], [69, "lost_success", null], [74, "success", null], [76, "lost_success", null], [77, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [81, "success", null], [87, "lost_success", null], [105, "success", null], [133, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 580, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 40, + "init_config_idx": 33, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [81.23]], [18, "contact", null], [19, "grasped", null], [[25, 26, 27, 28, 29], "collision", [213.24, 167.99, 149.89, 125.42, 64.48]], [47, "success", null], [71, "lost_success", null], [73, "success", null], [80, "lost_success", null], [82, "success", null], [83, "lost_success", null], [84, "success", null], [86, "lost_success", null], [89, "success", null], [90, "lost_success", null], [91, "success", null], [92, "lost_success", null], [98, "success", null], [100, "lost_success", null], [120, "success", null], [134, "lost_success", null], [138, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 581, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 25, + "init_config_idx": 5, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [54, "success", null], [55, "lost_success", null], [60, "success", null], [61, "lost_success", null], [65, "success", null], [70, "lost_success", null], [74, "success", null], [75, "lost_success", null], [77, "success", null], [79, "lost_success", null], [80, "success", null], [81, "lost_success", null], [109, "success", null], [115, "lost_success", null], [125, "success", null], [126, "lost_success", null], [132, "success", null], [167, "lost_success", null], [177, "success", null], [193, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 582, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 59, + "init_config_idx": 28, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [41.45]], [15, "contact", null], [16, "lost_contact", null], [18, "contact", null], [21, "grasped", null], [[28, 29, 30, 31, 32, 33, 34, 35, 36, 37], "collision", [140.62, 132.44, 108.69, 100.6, 96.13, 95.26, 95.49, 106.28, 109.67, 115.62]], [43, "success", null], [128, "lost_success", null], [153, "success", null], [170, "lost_success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [18.94, 17.32, 17.98, 10.19, 14.77, 14.47, 12.71, 13.79, 14.42, 13.08, 14.34, 14.17, 14.3, 15.82, 16.81, 15.9, 17.83, 13.84, 15.07, 12.33, 19.44, 17.36]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 583, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 43, + "init_config_idx": 33, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 13, 14, 15, 16], "collision", [527.57, 525.03, 385.28, 374.08, 477.72, 812.69, 662.89, 636.25]], [17, "contact", null], [19, "grasped", null], [44, "success", null], [46, "lost_success", null], [62, "success", null], [64, "lost_success", null], [65, "success", null], [67, "lost_success", null], [68, "success", null], [70, "lost_success", null], [157, "success", null], [160, "lost_success", null], [162, "success", null], [163, "lost_success", null], [165, "success", null], [168, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 584, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 48, + "init_config_idx": 31, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "grasped", null], [29, "success", null], [35, "lost_success", null], [38, "success", null], [54, "lost_success", null], [64, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [88, "success", null], [89, "lost_success", null], [96, "success", null], [107, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 585, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 7, + "init_config_idx": 30, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [1143.73, 100.42, 103.24, 488.56]], [10, "contact", null], [11, "lost_contact", null], [12, "contact", null], [12, "grasped", null], [[15, 16, 17], "collision", [284.13, 60.27, 8.85]], [27, "success", null], [28, "lost_success", null], [33, "success", null], [34, "lost_success", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [38, "lost_success", null], [41, "success", null], [49, "lost_success", null], [50, "success", null], [60, "lost_success", null], [62, "success", null], [65, "lost_success", null], [66, "success", null], [78, "lost_success", null], [79, "success", null], [104, "lost_success", null], [[105], "collision", [46.44]], [106, "success", null], [111, "lost_success", null], [112, "success", null], [123, "lost_success", null], [124, "success", null], [125, "lost_success", null], [126, "success", null], [129, "lost_success", null], [130, "success", null], [159, "lost_success", null], [161, "success", null], [170, "lost_success", null], [171, "success", null], [181, "lost_success", null], [182, "success", null], [191, "lost_success", null], [192, "success", null], [197, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 586, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 44, + "init_config_idx": 38, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [[59, 60, 61, 62, 63, 64, 65, 66], "collision", [296.41, 57.43, 42.62, 30.43, 37.14, 28.3, 28.37, 29.1]], [67, "success", null], [[67], "collision", [37.87]], [68, "lost_success", null], [[68, 69, 70, 71, 72, 73, 74], "collision", [40.8, 45.09, 47.49, 60.48, 35.93, 36.79, 31.91]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81], "collision", [26.53, 32.14, 28.14, 45.25, 21.2, 25.92, 18.75]], [106, "lost_success", null], [[121, 122, 123], "collision", [22.22, 10.21, 10.45]], [133, "success", null], [135, "lost_success", null], [136, "success", null], [140, "lost_success", null], [141, "success", null], [143, "lost_success", null], [148, "success", null], [149, "lost_success", null], [155, "success", null], [159, "lost_success", null], [170, "success", null], [172, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 587, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 50, + "init_config_idx": 48, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 14], "collision", [425.48, 259.77]], [20, "contact", null], [21, "grasped", null], [39, "success", null], [88, "lost_success", null], [89, "success", null], [[106], "collision", [5.75]], [107, "lost_success", null], [[107, 108, 109, 114, 115, 116, 117], "collision", [5.27, 5.76, 5.57, 20.12, 23.54, 23.42, 9.39]], [133, "success", null], [141, "lost_success", null], [142, "success", null], [149, "lost_success", null], [152, "success", null], [167, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 588, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 17, + "init_config_idx": 43, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17], "collision", [1026.83, 1298.98]], [20, "contact", null], [[20, 21], "collision", [423.93, 101.8]], [22, "lost_contact", null], [[22], "collision", [53.27]], [23, "contact", null], [23, "grasped", null], [48, "success", null], [49, "lost_success", null], [51, "success", null], [55, "lost_success", null], [60, "success", null], [64, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null], [80, "lost_success", null], [84, "success", null], [94, "lost_success", null], [99, "success", null], [101, "lost_success", null], [106, "success", null], [115, "lost_success", null], [116, "success", null], [117, "lost_success", null], [118, "success", null], [123, "lost_success", null], [137, "success", null], [144, "lost_success", null], [[149, 150, 151], "collision", [41.41, 18.14, 39.64]], [166, "success", null], [167, "lost_success", null], [171, "success", null], [172, "lost_success", null], [177, "success", null], [178, "lost_success", null], [181, "success", null], [182, "lost_success", null], [186, "success", null], [187, "lost_success", null], [189, "success", null], [190, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 589, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 35, + "init_config_idx": 22, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "lost_contact", null], [[26], "collision", [25.57]], [29, "contact", null], [32, "lost_contact", null], [34, "contact", null], [[38], "collision", [180.25]], [39, "grasped", null], [[39, 40, 41], "collision", [119.04, 63.36, 71.73]], [63, "success", null], [64, "lost_success", null], [65, "success", null], [66, "lost_success", null], [71, "success", null], [90, "lost_success", null], [94, "success", null], [103, "lost_success", null], [104, "success", null], [167, "lost_success", null], [169, "success", null], [171, "lost_success", null], [173, "success", null], [174, "lost_success", null], [175, "success", null], [178, "lost_success", null], [179, "success", null], [190, "lost_success", null], [191, "success", null], [192, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 590, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 13, + "init_config_idx": 11, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12], "collision", [1968.21, 89.7, 80.03, 242.17]], [14, "contact", null], [15, "grasped", null], [[18], "collision", [317.65]], [27, "success", null], [32, "lost_success", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [41, "lost_success", null], [42, "success", null], [75, "lost_success", null], [82, "success", null], [86, "lost_success", null], [88, "success", null], [89, "lost_success", null], [90, "success", null], [95, "lost_success", null], [96, "success", null], [98, "lost_success", null], [99, "success", null], [104, "lost_success", null], [108, "success", null], [110, "lost_success", null], [111, "success", null], [113, "lost_success", null], [117, "success", null], [120, "lost_success", null], [123, "success", null], [124, "lost_success", null], [125, "success", null], [135, "lost_success", null], [136, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [155, "success", null], [156, "lost_success", null], [157, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [166, "success", null], [170, "lost_success", null], [171, "success", null], [172, "lost_success", null], [177, "success", null], [193, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 591, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 32, + "init_config_idx": 32, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [40, "success", null], [43, "lost_success", null], [46, "success", null], [48, "lost_success", null], [49, "success", null], [65, "lost_success", null], [67, "success", null], [73, "lost_success", null], [76, "success", null], [86, "lost_success", null], [89, "success", null], [100, "lost_success", null], [101, "success", null], [107, "lost_success", null], [108, "success", null], [[111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124], "collision", [46.54, 23.23, 16.63, 16.8, 0.84, 3.01, 18.76, 9.03, 8.54, 13.45, 20.8, 0.15, 22.47, 12.21]], [125, "lost_success", null], [126, "success", null], [[127, 128, 129, 130, 131, 132], "collision", [36.13, 15.05, 22.48, 33.68, 15.48, 24.63]], [133, "lost_success", null], [[133], "collision", [17.31]], [134, "success", null], [[134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157], "collision", [25.38, 29.24, 28.68, 31.56, 34.43, 39.04, 34.86, 35.83, 22.78, 19.46, 19.73, 12.23, 21.97, 15.38, 18.36, 24.38, 42.1, 29.05, 34.34, 44.46, 35.43, 30.01, 31.21, 34.87]], [158, "lost_success", null], [[158, 159, 160, 161], "collision", [31.22, 13.26, 20.44, 21.1]], [162, "success", null], [[162, 163, 164, 165, 166, 167, 169], "collision", [21.02, 16.77, 16.45, 24.32, 36.63, 58.12, 142.74]], [172, "lost_success", null], [177, "success", null], [189, "lost_success", null], [190, "success", null], [194, "lost_success", null], [195, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 592, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 2, + "init_config_idx": 16, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 9, 10], "collision", [306.23, 190.97, 181.88, 108.39, 217.33, 157.06, 148.45]], [15, "contact", null], [[15], "collision", [0.06]], [16, "grasped", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [42, "lost_success", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [50, "success", null], [64, "lost_success", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [73, "lost_success", null], [75, "success", null], [95, "lost_success", null], [96, "success", null], [119, "lost_success", null], [120, "success", null], [122, "lost_success", null], [124, "success", null], [[144, 146, 147, 148, 149, 150], "collision", [12.63, 23.43, 16.99, 15.43, 14.0, 16.27]], [151, "lost_success", null], [[151, 152, 153, 154], "collision", [22.18, 31.09, 27.83, 11.62]], [155, "success", null], [[155, 156, 157, 158, 160], "collision", [9.63, 34.02, 41.66, 24.94, 17.84]], [161, "lost_success", null], [[161], "collision", [14.77]], [162, "success", null], [[162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [30.55, 20.77, 11.26, 17.28, 17.45, 20.14, 24.56, 24.95, 23.51, 35.72, 33.93, 32.91, 33.62, 36.34, 41.28, 39.3, 32.68, 45.4, 46.13, 40.87, 49.08, 47.7, 47.29, 55.93, 55.96, 61.54, 55.37, 52.68, 46.86, 51.88, 51.48, 51.54, 54.13, 100.26, 89.05, 91.13, 87.5, 89.13]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 593, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 29, + "init_config_idx": 27, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [[21, 22, 23, 24], "collision", [1.89, 1.83, 1.56, 0.21]], [25, "lost_contact", null], [27, "contact", null], [29, "lost_contact", null], [30, "contact", null], [32, "lost_contact", null], [33, "contact", null], [37, "grasped", null], [52, "success", null], [53, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [[63, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [51.53, 18.44, 4.95, 26.25, 35.23, 31.47, 26.54, 26.76, 30.83, 30.1, 32.88, 43.23, 44.98]], [77, "lost_success", null], [[77, 78], "collision", [44.0, 31.97]], [79, "success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [26.4, 35.32, 36.85, 27.63, 21.98, 17.58, 19.27, 6.13, 8.34, 17.49, 16.37, 29.27, 36.6, 44.74, 39.63, 38.06, 20.89, 25.03]], [97, "lost_success", null], [[97, 98], "collision", [6.07, 2.44]], [103, "success", null], [106, "lost_success", null], [107, "success", null], [115, "lost_success", null], [116, "success", null], [117, "lost_success", null], [119, "success", null], [124, "lost_success", null], [127, "success", null], [128, "lost_success", null], [141, "success", null], [146, "lost_success", null], [148, "success", null], [155, "lost_success", null], [169, "success", null], [180, "lost_success", null], [182, "success", null], [185, "lost_success", null], [186, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 594, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 18, + "init_config_idx": 32, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [350.62, 545.62]], [16, "contact", null], [[16], "collision", [314.32]], [18, "lost_contact", null], [19, "contact", null], [19, "grasped", null], [[32], "collision", [80.32]], [40, "success", null], [64, "lost_success", null], [[66, 67, 68, 70, 73, 74, 75, 76, 77, 78, 79, 80, 81, 84, 87, 88], "collision", [9.79, 11.09, 20.28, 4.18, 18.99, 6.5, 7.94, 6.96, 7.07, 7.16, 7.27, 13.72, 7.2, 6.84, 29.6, 27.22]], [89, "success", null], [[89, 90], "collision", [18.79, 6.24]], [91, "lost_success", null], [[91], "collision", [8.79]], [92, "success", null], [[92], "collision", [12.22]], [93, "lost_success", null], [[93], "collision", [19.18]], [94, "success", null], [[94, 95, 96, 97, 98], "collision", [14.52, 19.48, 8.53, 8.67, 13.25]], [100, "lost_success", null], [105, "success", null], [114, "lost_success", null], [116, "success", null], [120, "lost_success", null], [124, "success", null], [126, "lost_success", null], [127, "success", null], [129, "lost_success", null], [130, "success", null], [142, "lost_success", null], [158, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 595, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 38, + "init_config_idx": 3, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [285.84]], [21, "contact", null], [[21], "collision", [79.21]], [22, "lost_contact", null], [[24, 26], "collision", [989.49, 1182.29]], [27, "contact", null], [27, "grasped", null], [[34], "collision", [165.16]], [49, "success", null], [50, "lost_success", null], [51, "success", null], [55, "lost_success", null], [56, "success", null], [136, "lost_success", null], [[136], "collision", [57.94]], [137, "success", null], [[137, 138, 139, 143, 144, 145, 146, 147, 150, 151, 152], "collision", [6.16, 1.62, 6.26, 0.55, 20.51, 18.45, 21.38, 10.47, 23.67, 21.31, 19.39]], [162, "lost_success", null], [164, "success", null], [167, "lost_success", null], [172, "success", null], [178, "lost_success", null], [179, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 596, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 4, + "init_config_idx": 0, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13], "collision", [271.31, 104.89]], [14, "contact", null], [15, "grasped", null], [[22, 23, 24, 25, 27], "collision", [161.28, 8.74, 27.62, 164.52, 716.34]], [33, "success", null], [37, "lost_success", null], [40, "success", null], [41, "lost_success", null], [42, "success", null], [[66, 67], "collision", [125.64, 116.85]], [68, "lost_success", null], [[68, 69, 70, 71, 72, 73], "collision", [108.06, 110.49, 81.28, 89.99, 41.86, 57.08]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81, 83, 84, 85, 86, 87], "collision", [54.23, 56.97, 3.97, 94.91, 42.44, 80.43, 40.39, 55.14, 74.5, 70.83, 59.0, 60.3, 65.71]], [88, "lost_success", null], [[88, 89], "collision", [52.09, 56.61]], [90, "success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 103, 104, 105], "collision", [52.76, 53.69, 60.3, 54.44, 54.13, 58.9, 51.64, 51.08, 60.54, 47.64, 45.41, 37.82, 32.6, 11.51]], [108, "lost_success", null], [[108, 109, 110], "collision", [34.79, 32.24, 23.72]], [118, "success", null], [190, "lost_success", null], [196, "success", null], [198, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 597, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 29, + "init_config_idx": 28, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 19, 20, 21, 22, 23, 24, 25, 27], "collision", [49.84, 203.99, 325.63, 209.36, 719.41, 376.21, 677.55, 1559.36, 429.4, 13.6]], [28, "contact", null], [29, "grasped", null], [[29, 31], "collision", [1.37, 2.67]], [43, "success", null], [44, "lost_success", null], [46, "success", null], [48, "lost_success", null], [49, "success", null], [55, "lost_success", null], [57, "success", null], [59, "lost_success", null], [60, "success", null], [62, "lost_success", null], [63, "success", null], [68, "lost_success", null], [69, "success", null], [72, "lost_success", null], [77, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [81, "success", null], [86, "lost_success", null], [88, "success", null], [96, "lost_success", null], [98, "success", null], [102, "lost_success", null], [104, "success", null], [111, "lost_success", null], [112, "success", null], [115, "lost_success", null], [117, "success", null], [125, "lost_success", null], [127, "success", null], [131, "lost_success", null], [142, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [194, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 598, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 10, + "init_config_idx": 27, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [785.93]], [16, "contact", null], [17, "grasped", null], [29, "success", null], [33, "lost_success", null], [36, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [46, "success", null], [59, "lost_success", null], [65, "success", null], [67, "lost_success", null], [72, "success", null], [90, "lost_success", null], [92, "success", null], [[99, 100, 101, 102, 103, 104], "collision", [60.38, 55.63, 52.99, 54.21, 37.97, 35.12]], [106, "lost_success", null], [111, "success", null], [119, "lost_success", null], [122, "success", null], [136, "lost_success", null], [153, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 599, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 39, + "init_config_idx": 1, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 13], "collision", [1698.98, 528.65]], [14, "contact", null], [[14], "collision", [499.79]], [15, "grasped", null], [[27, 28, 29, 30, 31], "collision", [1.03, 0.37, 0.38, 0.17, 0.41]], [32, "success", null], [[32, 33], "collision", [0.0, 0.26]], [34, "lost_success", null], [38, "success", null], [39, "lost_success", null], [44, "success", null], [59, "lost_success", null], [66, "success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 100, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 115, 118, 119, 120, 121, 126, 127, 128, 130, 132], "collision", [22.52, 42.16, 46.57, 49.11, 51.16, 43.62, 52.69, 54.83, 53.16, 55.48, 40.99, 37.63, 48.11, 51.22, 37.38, 38.44, 86.87, 50.44, 60.65, 9.79, 24.79, 39.35, 47.8, 48.4, 42.2, 51.45, 43.4, 0.51, 21.83, 7.26, 0.02, 0.07, 44.99, 56.79, 61.01, 75.17, 60.6, 74.01, 42.35, 11.94, 0.02, 0.09, 0.08, 0.12, 0.17, 0.09, 0.2, 0.12, 0.09, 0.15]], [149, "lost_success", null], [[151, 155, 156], "collision", [0.18, 0.06, 0.31]], [157, "success", null], [[158, 159, 161], "collision", [0.11, 0.3, 0.01]], [178, "lost_success", null], [[178], "collision", [0.01]], [179, "success", null], [[182, 183, 184], "collision", [0.14, 0.59, 0.1]], [185, "lost_success", null], [[185], "collision", [0.0]], [193, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 600, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 22, + "init_config_idx": 28, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "lost_contact", null], [20, "contact", null], [20, "grasped", null], [[25], "collision", [310.92]], [37, "success", null], [46, "lost_success", null], [54, "success", null], [62, "lost_success", null], [64, "success", null], [110, "lost_success", null], [112, "success", null], [124, "lost_success", null], [128, "success", null], [191, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 601, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 22, + "init_config_idx": 14, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [[12, 14, 15, 16, 17, 20, 21, 22, 23, 24, 25, 26, 27], "collision", [3.91, 0.27, 0.21, 0.23, 0.19, 0.0, 78.93, 100.64, 106.89, 118.6, 104.15, 94.71, 0.11]], [32, "success", null], [39, "lost_success", null], [43, "success", null], [[98], "collision", [0.0]], [113, "lost_success", null], [116, "success", null], [120, "lost_success", null], [124, "success", null], [[131], "collision", [0.05]], [141, "lost_success", null], [[146, 147, 148], "collision", [0.3, 0.52, 0.37]], [155, "success", null], [159, "lost_success", null], [164, "success", null], [165, "lost_success", null], [166, "success", null], [[179, 193], "collision", [0.44, 0.11]], [194, "lost_success", null], [[194], "collision", [0.18]], [195, "success", null], [[195, 196, 197, 198, 199], "collision", [0.27, 0.24, 0.13, 0.23, 0.02]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 602, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 29, + "init_config_idx": 2, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [25, "grasped", null], [[39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 50, 51, 52, 53, 54, 55], "collision", [74.45, 91.63, 97.95, 85.91, 101.41, 109.72, 111.12, 114.71, 111.03, 90.28, 120.73, 111.13, 113.72, 99.12, 95.42, 95.15]], [57, "success", null], [71, "lost_success", null], [75, "success", null], [102, "lost_success", null], [111, "success", null], [123, "lost_success", null], [126, "success", null], [129, "lost_success", null], [145, "success", null], [148, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 603, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 42, + "init_config_idx": 3, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [110.29]], [13, "contact", null], [14, "lost_contact", null], [19, "contact", null], [20, "lost_contact", null], [21, "contact", null], [22, "grasped", null], [35, "success", null], [40, "lost_success", null], [47, "success", null], [53, "lost_success", null], [58, "success", null], [63, "lost_success", null], [64, "success", null], [66, "lost_success", null], [69, "success", null], [73, "lost_success", null], [75, "success", null], [76, "lost_success", null], [87, "success", null], [142, "lost_success", null], [147, "success", null], [148, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 604, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 33, + "init_config_idx": 15, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[24], "collision", [73.49]], [41, "success", null], [63, "lost_success", null], [64, "success", null], [77, "lost_success", null], [88, "success", null], [94, "lost_success", null], [123, "success", null], [134, "lost_success", null], [139, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 605, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 9, + "init_config_idx": 18, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [685.43]], [21, "contact", null], [22, "grasped", null], [44, "success", null], [46, "lost_success", null], [62, "success", null], [74, "lost_success", null], [81, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 606, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 37, + "init_config_idx": 34, + "spawn_selection_idx": 7, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [35, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [51, "success", null], [61, "lost_success", null], [65, "success", null], [67, "lost_success", null], [68, "success", null], [69, "lost_success", null], [71, "success", null], [84, "lost_success", null], [[84], "collision", [25.55]], [85, "success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [34.54, 36.1, 25.35, 30.66, 29.16, 42.23, 31.59, 43.24, 64.46, 74.41, 55.47, 45.68]], [97, "lost_success", null], [[97, 98, 99, 100], "collision", [51.47, 49.95, 22.13, 50.67]], [101, "success", null], [[101, 102, 103, 105, 106], "collision", [23.02, 82.37, 100.26, 310.44, 31.34]], [111, "lost_success", null], [113, "success", null], [[121], "collision", [41.76]], [131, "lost_success", null], [136, "success", null], [155, "lost_success", null], [156, "success", null], [181, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 607, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 34, + "init_config_idx": 2, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [42, "success", null], [43, "lost_success", null], [44, "success", null], [50, "lost_success", null], [51, "success", null], [113, "lost_success", null], [117, "success", null], [121, "lost_success", null], [123, "success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140], "collision", [70.09, 23.1, 16.34, 10.63, 16.91, 23.04, 22.25, 26.96, 38.52, 57.8, 65.96, 74.0, 83.84, 77.94, 94.11, 77.27]], [141, "lost_success", null], [[141], "collision", [78.07]], [142, "success", null], [[142], "collision", [76.36]], [143, "lost_success", null], [[143], "collision", [67.35]], [144, "success", null], [[144], "collision", [59.7]], [145, "lost_success", null], [[145, 146, 147], "collision", [71.34, 63.2, 42.03]], [148, "success", null], [[148, 149, 150, 151, 152], "collision", [35.08, 38.2, 24.82, 31.91, 19.62]], [153, "lost_success", null], [[153], "collision", [4.42]], [154, "success", null], [[155, 156, 157, 158, 159, 160, 161, 162], "collision", [16.52, 16.19, 19.32, 18.63, 10.68, 35.2, 31.66, 22.05]], [163, "lost_success", null], [[163, 164], "collision", [346.29, 184.23]], [167, "success", null], [[167], "collision", [19.56]], [168, "lost_success", null], [[168], "collision", [40.41]], [169, "success", null], [[169, 170], "collision", [22.67, 48.06]], [177, "lost_success", null], [178, "success", null], [184, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 608, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 34, + "init_config_idx": 2, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [45, "success", null], [86, "lost_success", null], [87, "success", null], [106, "lost_success", null], [107, "success", null], [108, "lost_success", null], [114, "success", null], [[118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [50.09, 45.59, 22.39, 45.03, 42.14, 47.88, 50.5, 46.73, 46.57, 35.8, 47.84, 37.92, 506.47, 300.92, 11.92, 81.99, 126.9, 9.8, 18.16, 17.04, 30.59, 37.37, 50.33, 37.73, 38.79, 43.37, 44.46, 46.61]], [146, "lost_success", null], [[146], "collision", [55.98]], [147, "success", null], [[147, 148, 149], "collision", [50.63, 53.28, 53.42]], [150, "lost_success", null], [[150], "collision", [50.63]], [151, "success", null], [[151, 152], "collision", [44.14, 28.71]], [153, "lost_success", null], [[153, 154], "collision", [14.96, 30.47]], [155, "success", null], [[155], "collision", [31.13]], [158, "lost_success", null], [163, "success", null], [175, "lost_success", null], [176, "success", null], [180, "lost_success", null], [185, "success", null], [187, "lost_success", null], [188, "success", null], [189, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 609, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 20, + "init_config_idx": 22, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22, 23, 24, 26, 28, 29], "collision", [179.36, 51.83, 124.3, 208.4, 141.55, 137.78]], [31, "contact", null], [[32], "collision", [31.89]], [33, "lost_contact", null], [[33, 36, 37, 38, 42, 50], "collision", [162.52, 174.78, 79.92, 155.73, 145.55, 208.21]], [51, "contact", null], [[53], "collision", [0.04]], [54, "lost_contact", null], [56, "contact", null], [59, "grasped", null], [86, "success", null], [87, "lost_success", null], [88, "success", null], [97, "lost_success", null], [98, "success", null], [99, "lost_success", null], [102, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [107, "success", null], [108, "lost_success", null], [[108, 109], "collision", [12.87, 9.48]], [110, "success", null], [[110, 111], "collision", [12.71, 16.89]], [112, "lost_success", null], [[112], "collision", [24.96]], [113, "success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126], "collision", [24.07, 22.57, 26.26, 23.65, 27.06, 32.34, 24.11, 33.2, 34.5, 12.49, 12.34, 18.71, 15.62, 19.56]], [133, "lost_success", null], [134, "success", null], [136, "lost_success", null], [137, "success", null], [151, "lost_success", null], [154, "success", null], [155, "lost_success", null], [176, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 610, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 18, + "init_config_idx": 16, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17], "collision", [393.03, 252.99, 246.51]], [21, "contact", null], [22, "grasped", null], [45, "success", null], [48, "lost_success", null], [49, "success", null], [51, "lost_success", null], [53, "success", null], [55, "lost_success", null], [56, "success", null], [58, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [64, "lost_success", null], [66, "success", null], [76, "lost_success", null], [80, "success", null], [88, "lost_success", null], [90, "success", null], [99, "lost_success", null], [101, "success", null], [102, "lost_success", null], [120, "success", null], [139, "lost_success", null], [140, "success", null], [141, "lost_success", null], [142, "success", null], [153, "lost_success", null], [181, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 611, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 20, + "init_config_idx": 23, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [[24, 25], "collision", [98.73, 308.52]], [35, "success", null], [38, "lost_success", null], [39, "success", null], [40, "lost_success", null], [41, "success", null], [46, "lost_success", null], [50, "success", null], [72, "lost_success", null], [[72], "collision", [64.27]], [73, "success", null], [[73, 74, 75, 77], "collision", [72.75, 48.41, 38.39, 5.29]], [85, "lost_success", null], [89, "success", null], [95, "lost_success", null], [96, "success", null], [[118, 119, 120, 121], "collision", [50.05, 40.74, 29.04, 13.14]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 612, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 45, + "init_config_idx": 40, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [24, "success", null], [80, "lost_success", null], [89, "success", null], [120, "lost_success", null], [121, "success", null], [122, "lost_success", null], [123, "success", null], [125, "lost_success", null], [130, "success", null], [132, "lost_success", null], [165, "success", null], [167, "lost_success", null], [168, "success", null], [[174], "collision", [27.04]], [175, "lost_success", null], [[175], "collision", [35.15]], [176, "success", null], [[176, 177, 178, 179, 180], "collision", [24.47, 18.34, 30.22, 24.85, 23.62]], [181, "lost_success", null], [[181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [26.95, 25.38, 25.29, 22.39, 21.12, 24.44, 27.56, 33.52, 25.79, 22.04, 26.9, 27.1, 23.62, 21.54, 21.08, 17.23, 16.33, 20.44, 25.16]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 613, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 24, + "init_config_idx": 41, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "grasped", null], [28, "success", null], [56, "lost_success", null], [[56], "collision", [78.19]], [57, "success", null], [[57, 58, 59, 61], "collision", [46.46, 101.32, 64.85, 79.19]], [122, "lost_success", null], [140, "success", null], [141, "lost_success", null], [[157], "collision", [8.34]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 614, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 38, + "init_config_idx": 28, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 12, 16], "collision", [486.42, 98.36, 361.63, 4.29]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [5.59, 2.42, 2.47, 1.99, 1.96, 2.66, 527.44, 2.53, 2.61, 1.3, 1.36, 1.46, 1.52, 1.6, 1.53, 1.38, 1.4, 1.44, 1.43, 1.42, 1.32, 1.32, 1.41, 1.5, 1.44, 1.43, 1.51, 1.42, 1.45]], [46, "success", null], [[46], "collision", [0.48]], [47, "lost_success", null], [[47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71], "collision", [0.42, 0.37, 0.31, 0.29, 0.33, 0.35, 0.38, 0.4, 0.37, 0.38, 0.55, 0.41, 0.44, 0.59, 0.46, 0.34, 0.37, 0.32, 0.37, 0.4, 0.41, 0.4, 0.42, 0.43, 0.53]], [72, "success", null], [[72, 73, 74, 75], "collision", [0.43, 0.41, 0.39, 0.39]], [76, "lost_success", null], [[76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [0.43, 0.62, 0.4, 0.56, 0.35, 0.35, 0.37, 0.35, 0.39, 0.37, 0.4, 0.45]], [88, "success", null], [[88, 89, 90], "collision", [0.48, 0.39, 0.53]], [91, "lost_success", null], [[91, 92], "collision", [0.48, 0.37]], [93, "success", null], [[93, 94, 95, 96], "collision", [0.33, 0.33, 0.54, 0.42]], [97, "lost_success", null], [[97, 98], "collision", [0.45, 0.4]], [99, "success", null], [[99, 100], "collision", [0.53, 0.41]], [101, "lost_success", null], [[101], "collision", [0.39]], [102, "success", null], [[102], "collision", [0.37]], [103, "lost_success", null], [[103], "collision", [0.39]], [104, "success", null], [[104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132], "collision", [0.38, 0.56, 0.37, 0.63, 0.43, 0.56, 0.32, 0.38, 0.41, 0.42, 0.43, 0.37, 0.43, 0.41, 0.64, 0.56, 0.39, 0.4, 0.45, 0.42, 0.41, 0.38, 0.36, 0.4, 0.38, 0.36, 0.36, 0.38, 0.34]], [133, "lost_success", null], [[133], "collision", [0.33]], [134, "success", null], [[134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.35, 0.31, 0.36, 0.36, 0.61, 0.38, 0.39, 0.37, 0.38, 0.37, 0.4, 0.4, 0.4, 0.58, 0.36, 0.57, 0.33, 0.35, 0.34, 0.31, 0.28, 0.3, 0.27, 0.33, 0.31, 0.26, 0.28, 0.31, 0.31, 0.3, 0.33, 0.33, 0.34, 0.32, 0.31, 0.27, 0.27, 0.29, 0.3, 0.32, 0.31, 0.35, 0.38, 0.36, 0.57, 0.58, 0.33, 0.38, 0.37, 0.41, 0.38, 0.38, 0.36, 0.36, 0.64, 0.36, 0.34, 0.34, 0.38, 0.57, 0.38, 0.36, 0.38, 0.36, 0.32, 0.33]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 615, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 13, + "init_config_idx": 5, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[8, "contact", null], [9, "grasped", null], [21, "success", null], [25, "lost_success", null], [51, "success", null], [55, "lost_success", null], [60, "success", null], [63, "lost_success", null], [96, "success", null], [148, "lost_success", null], [188, "success", null], [190, "lost_success", null], [191, "success", null], [193, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 616, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 58, + "init_config_idx": 4, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10], "collision", [235.42, 199.07, 105.49, 246.55]], [11, "contact", null], [12, "grasped", null], [[15, 16, 17], "collision", [639.78, 607.22, 516.61]], [26, "success", null], [28, "lost_success", null], [29, "success", null], [30, "lost_success", null], [31, "success", null], [48, "lost_success", null], [50, "success", null], [66, "lost_success", null], [85, "success", null], [86, "lost_success", null], [90, "success", null], [119, "lost_success", null], [[187, 188], "collision", [126.3, 108.31]], [189, "success", null], [[189, 190], "collision", [65.71, 62.28]], [191, "lost_success", null], [[191, 192, 193, 194], "collision", [159.04, 139.53, 157.48, 115.39]], [195, "success", null], [[195, 196], "collision", [42.77, 100.23]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 617, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 58, + "init_config_idx": 4, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [249.69]], [14, "contact", null], [14, "grasped", null], [[17, 18, 19], "collision", [195.11, 328.38, 227.25]], [33, "success", null], [35, "lost_success", null], [44, "success", null], [65, "lost_success", null], [66, "success", null], [68, "lost_success", null], [71, "success", null], [72, "lost_success", null], [85, "success", null], [87, "lost_success", null], [95, "success", null], [96, "lost_success", null], [104, "success", null], [107, "lost_success", null], [113, "success", null], [133, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 618, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 25, + "init_config_idx": 20, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [319.81, 206.12]], [18, "contact", null], [19, "lost_contact", null], [[20], "collision", [48.44]], [23, "contact", null], [23, "grasped", null], [38, "success", null], [40, "lost_success", null], [52, "success", null], [68, "lost_success", null], [70, "success", null], [75, "lost_success", null], [76, "success", null], [83, "lost_success", null], [98, "success", null], [116, "lost_success", null], [130, "success", null], [136, "lost_success", null], [144, "success", null], [147, "lost_success", null], [148, "success", null], [149, "lost_success", null], [150, "success", null], [160, "lost_success", null], [[165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.1, 0.07, 0.08, 0.07, 0.07, 0.07, 0.08, 0.09, 0.07, 0.07, 0.07, 0.07, 0.07, 0.07, 0.08, 0.08, 0.09, 0.08, 0.06, 0.08, 0.06, 0.06, 0.06, 0.06, 0.06, 0.06, 0.06, 0.07, 0.08, 0.06, 0.06, 0.1, 0.05, 0.11, 0.1]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 619, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 40, + "init_config_idx": 31, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [33, "success", null], [41, "lost_success", null], [44, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [52, "success", null], [54, "lost_success", null], [55, "success", null], [61, "lost_success", null], [63, "success", null], [65, "lost_success", null], [71, "success", null], [73, "lost_success", null], [75, "success", null], [76, "lost_success", null], [[80, 81, 82], "collision", [163.18, 110.4, 112.13]], [83, "success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 118, 119, 120, 121, 122, 123], "collision", [102.56, 109.65, 44.8, 43.78, 41.32, 34.19, 31.32, 31.47, 34.86, 34.24, 32.19, 30.93, 25.89, 24.69, 21.87, 28.94, 17.15, 11.73, 14.71, 18.85, 21.14, 20.05, 25.44, 33.46, 32.44, 37.11, 43.36, 51.25, 44.66, 49.81, 50.44, 30.32, 35.36, 8.54, 47.31, 68.39, 51.32, 61.33, 66.8, 50.2]], [124, "lost_success", null], [125, "success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155], "collision", [13.44, 18.93, 45.86, 39.75, 34.85, 48.1, 55.07, 43.25, 38.0, 39.49, 40.21, 36.12, 41.28, 42.4, 40.99, 40.04, 39.29, 45.67, 45.98, 42.4, 42.0, 48.09, 50.71, 42.56, 45.95, 36.31, 34.33, 31.35, 30.25, 24.58, 37.54]], [156, "lost_success", null], [[156], "collision", [16.15]], [157, "success", null], [[157, 158, 159, 160], "collision", [24.47, 19.97, 22.43, 27.18]], [161, "lost_success", null], [[161, 164], "collision", [21.74, 18.93]], [165, "success", null], [[166, 167, 169, 171, 172, 173, 174, 175, 176, 177, 178, 179, 181, 182, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [27.2, 14.04, 12.6, 14.13, 4.92, 4.11, 2.59, 6.98, 7.95, 7.97, 8.88, 11.95, 5.49, 5.75, 15.76, 20.54, 13.85, 22.4, 24.3, 19.8, 22.1, 25.35, 30.79, 21.34, 18.14, 10.47, 19.7, 24.22, 22.59, 18.31]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 620, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 42, + "init_config_idx": 9, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [174.44, 188.78]], [15, "contact", null], [16, "grasped", null], [32, "success", null], [66, "lost_success", null], [[67], "collision", [39.04]], [68, "success", null], [[68, 69, 70, 71, 72, 74], "collision", [22.98, 28.52, 34.59, 28.61, 28.84, 19.0]], [75, "lost_success", null], [[75], "collision", [24.65]], [82, "success", null], [[86, 87, 89, 90], "collision", [20.92, 16.92, 22.27, 33.08]], [91, "lost_success", null], [[91, 93, 94, 96, 97], "collision", [19.61, 24.56, 144.48, 40.78, 34.42]], [98, "success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111], "collision", [23.18, 26.71, 49.64, 37.85, 41.37, 35.96, 38.41, 35.72, 46.42, 44.06, 30.4, 30.51, 50.27, 54.58]], [112, "lost_success", null], [[112, 113], "collision", [26.74, 47.11]], [114, "success", null], [[114, 115, 116, 117], "collision", [53.72, 62.31, 33.79, 57.45]], [118, "lost_success", null], [[118], "collision", [65.44]], [119, "success", null], [[119], "collision", [69.47]], [120, "lost_success", null], [[120], "collision", [50.17]], [121, "success", null], [[121, 122, 123], "collision", [35.64, 23.67, 71.89]], [124, "lost_success", null], [[125, 126], "collision", [71.15, 57.92]], [132, "success", null], [139, "lost_success", null], [140, "success", null], [154, "lost_success", null], [155, "success", null], [156, "lost_success", null], [158, "success", null], [160, "lost_success", null], [161, "success", null], [171, "lost_success", null], [174, "success", null], [[176, 177, 178, 179], "collision", [87.92, 167.88, 143.04, 153.55]], [180, "lost_success", null], [[180], "collision", [59.55]], [181, "success", null], [[183, 184, 185], "collision", [16.79, 3.97, 7.04]], [187, "lost_success", null], [190, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 621, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 41, + "init_config_idx": 33, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [30, "lost_contact", null], [[30, 31, 32], "collision", [4.6, 0.32, 0.51]], [33, "contact", null], [34, "lost_contact", null], [39, "contact", null], [39, "grasped", null], [[53], "collision", [68.31]], [66, "success", null], [68, "lost_success", null], [69, "success", null], [101, "lost_success", null], [110, "success", null], [182, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 622, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 38, + "init_config_idx": 19, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [41, "success", null], [47, "lost_success", null], [49, "success", null], [56, "lost_success", null], [57, "success", null], [58, "lost_success", null], [60, "success", null], [[66], "collision", [71.28]], [140, "lost_success", null], [142, "success", null], [154, "lost_success", null], [159, "success", null], [163, "lost_success", null], [185, "success", null], [187, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 623, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 36, + "init_config_idx": 4, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "lost_contact", null], [20, "contact", null], [21, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [[22, 23], "collision", [0.13, 0.63]], [38, "success", null], [42, "lost_success", null], [43, "success", null], [47, "lost_success", null], [49, "success", null], [59, "lost_success", null], [60, "success", null], [75, "lost_success", null], [76, "success", null], [105, "lost_success", null], [107, "success", null], [108, "lost_success", null], [111, "success", null], [113, "lost_success", null], [117, "success", null], [[121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151], "collision", [13.24, 12.55, 10.95, 9.4, 14.37, 8.32, 9.73, 10.04, 10.07, 8.64, 10.29, 11.85, 9.41, 9.92, 10.63, 11.66, 11.08, 10.87, 8.44, 8.78, 7.0, 9.83, 11.37, 10.73, 10.38, 7.53, 9.21, 9.21, 9.99, 10.41, 8.06]], [152, "lost_success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167], "collision", [8.51, 9.76, 8.62, 9.08, 7.39, 7.33, 6.35, 7.4, 7.64, 7.57, 6.11, 6.29, 6.75, 5.45, 4.97, 5.78]], [168, "success", null], [[168, 169], "collision", [3.02, 2.1]], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [[174, 175], "collision", [12.21, 25.83]], [178, "success", null], [[179], "collision", [7.68]], [180, "lost_success", null], [181, "success", null], [184, "lost_success", null], [[184], "collision", [24.01]], [187, "success", null], [188, "lost_success", null], [189, "success", null], [193, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 624, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 40, + "init_config_idx": 17, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [40, "success", null], [62, "lost_success", null], [67, "success", null], [68, "lost_success", null], [[68], "collision", [643.67]], [69, "success", null], [70, "lost_success", null], [77, "success", null], [113, "lost_success", null], [114, "success", null], [115, "lost_success", null], [125, "success", null], [136, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 625, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 15, + "init_config_idx": 6, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [193.7, 166.81, 176.77, 118.83]], [13, "contact", null], [13, "grasped", null], [44, "success", null], [45, "lost_success", null], [49, "success", null], [55, "lost_success", null], [56, "success", null], [60, "lost_success", null], [63, "success", null], [67, "lost_success", null], [68, "success", null], [69, "lost_success", null], [75, "success", null], [89, "lost_success", null], [95, "success", null], [[104], "collision", [16.76]], [105, "lost_success", null], [[105], "collision", [117.08]], [106, "success", null], [[106, 107], "collision", [32.01, 30.4]], [108, "lost_success", null], [[108, 109, 110, 112], "collision", [15.48, 25.48, 25.83, 47.3]], [115, "success", null], [[117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165], "collision", [15.06, 34.23, 47.73, 43.62, 32.78, 38.16, 63.82, 19.68, 26.85, 40.04, 46.23, 33.38, 22.12, 31.76, 50.47, 54.85, 28.71, 22.66, 13.92, 10.5, 5.73, 10.86, 11.4, 16.29, 12.92, 16.22, 10.87, 14.37, 31.17, 20.46, 33.58, 38.32, 30.49, 23.2, 15.01, 15.85, 20.16, 22.44, 22.65, 18.41, 23.16, 21.46, 23.53, 19.64, 25.94, 21.71, 16.16, 28.21, 12.64]], [169, "lost_success", null], [[169], "collision", [10.97]], [170, "success", null], [[170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185], "collision", [28.65, 52.25, 46.08, 190.5, 89.03, 33.11, 93.67, 152.1, 197.73, 130.81, 145.45, 173.79, 159.74, 162.67, 119.32, 113.27]], [186, "lost_success", null], [[186], "collision", [144.83]], [187, "success", null], [[187, 188, 189, 190, 191, 192, 193], "collision", [85.18, 85.69, 92.0, 74.6, 62.43, 60.07, 1.46]], [194, "lost_success", null], [[194], "collision", [16.94]], [198, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 626, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 20, + "init_config_idx": 18, + "spawn_selection_idx": 34, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [47, "success", null], [50, "lost_success", null], [51, "success", null], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [65, "success", null], [66, "lost_success", null], [71, "success", null], [91, "lost_success", null], [94, "success", null], [103, "lost_success", null], [109, "success", null], [135, "lost_success", null], [136, "success", null], [149, "lost_success", null], [155, "success", null], [156, "lost_success", null], [157, "success", null], [159, "lost_success", null], [180, "success", null], [181, "lost_success", null], [182, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 627, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 35, + "init_config_idx": 11, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [11.76]], [17, "contact", null], [17, "grasped", null], [[18], "collision", [1.88]], [35, "success", null], [37, "lost_success", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [43, "lost_success", null], [45, "success", null], [47, "lost_success", null], [49, "success", null], [50, "lost_success", null], [140, "success", null], [174, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 628, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 8, + "init_config_idx": 42, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11, 13, 14, 15], "collision", [265.91, 121.45, 85.67, 352.24, 127.57]], [19, "contact", null], [20, "grasped", null], [40, "success", null], [41, "lost_success", null], [42, "success", null], [50, "lost_success", null], [51, "success", null], [58, "lost_success", null], [[58], "collision", [1.44]], [59, "success", null], [[59, 60], "collision", [5.73, 4.3]], [61, "lost_success", null], [[61], "collision", [10.89]], [62, "success", null], [[62, 63, 64, 65, 66], "collision", [8.56, 13.09, 18.45, 31.15, 32.42]], [67, "lost_success", null], [[67, 68, 69, 70, 72], "collision", [26.76, 39.1, 29.76, 23.09, 24.84]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [15.38, 12.88, 11.26, 32.64, 51.26, 34.48, 33.96, 65.64, 57.01]], [83, "lost_success", null], [[83], "collision", [76.27]], [84, "success", null], [[84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 106, 107, 108, 109, 110, 114], "collision", [39.97, 32.24, 22.63, 32.38, 22.26, 30.12, 26.96, 27.42, 25.63, 26.98, 16.83, 26.64, 22.56, 30.02, 15.23, 17.35, 5.03, 18.86, 2.66, 4.37, 12.64, 19.81, 21.95, 0.08]], [118, "lost_success", null], [120, "success", null], [123, "lost_success", null], [127, "success", null], [132, "lost_success", null], [133, "success", null], [139, "lost_success", null], [140, "success", null], [145, "lost_success", null], [[145, 146], "collision", [9.69, 26.54]], [147, "success", null], [[147, 148], "collision", [21.02, 14.71]], [149, "lost_success", null], [[149, 150, 151], "collision", [35.87, 40.15, 43.27]], [152, "success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176], "collision", [46.31, 43.83, 37.34, 39.62, 28.1, 40.3, 47.05, 47.1, 52.35, 42.44, 47.06, 62.59, 48.66, 39.0, 58.43, 37.82, 41.51, 57.75, 33.03, 53.44, 60.82, 39.71, 58.46, 81.48, 76.88]], [177, "lost_success", null], [[177], "collision", [60.67]], [178, "success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [55.95, 61.16, 57.25, 59.53, 60.6, 64.66, 67.87, 69.59, 67.06, 63.73, 61.49, 62.01, 47.3, 42.0, 45.06, 43.51, 29.85, 35.25, 38.7, 40.02, 36.73, 32.02]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 629, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 5, + "init_config_idx": 9, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 11, 15, 16, 17, 19, 20, 21], "collision", [214.02, 1.57, 91.79, 15.85, 114.67, 169.75, 164.52, 173.46, 109.74, 51.69]], [22, "contact", null], [23, "grasped", null], [[25, 27, 28, 29, 30, 31, 32], "collision", [305.33, 107.25, 79.19, 43.53, 58.16, 89.21, 31.95]], [47, "success", null], [49, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [61, "success", null], [62, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [72, "lost_success", null], [93, "success", null], [100, "lost_success", null], [102, "success", null], [103, "lost_success", null], [105, "success", null], [108, "lost_success", null], [109, "success", null], [184, "lost_success", null], [190, "success", null], [193, "lost_success", null], [196, "success", null], [197, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 630, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 27, + "init_config_idx": 23, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 12, 13, 18], "collision", [892.14, 183.96, 99.76, 31.2]], [19, "contact", null], [[19], "collision", [0.02]], [20, "lost_contact", null], [[20], "collision", [0.07]], [21, "contact", null], [22, "grasped", null], [[23, 25, 26, 27, 28], "collision", [68.26, 515.72, 96.22, 195.5, 126.79]], [38, "success", null], [40, "lost_success", null], [42, "success", null], [[42], "collision", [0.52]], [44, "lost_success", null], [45, "success", null], [48, "lost_success", null], [49, "success", null], [61, "lost_success", null], [64, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73], "collision", [50.34, 55.9, 50.58, 48.58, 58.4, 65.74, 62.71, 108.2, 57.69]], [74, "lost_success", null], [[74], "collision", [51.95]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 94, 95, 96, 97, 99, 100, 101, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 168, 169, 170, 171, 172, 173, 174, 176, 181, 182, 184, 185, 186, 187], "collision", [55.47, 56.25, 49.32, 46.65, 44.14, 41.74, 26.68, 27.71, 27.66, 14.93, 19.84, 20.86, 19.6, 27.93, 11.21, 13.28, 13.75, 24.88, 30.12, 9.4, 13.94, 8.44, 9.1, 29.66, 9.61, 21.43, 12.7, 18.99, 20.73, 30.66, 17.64, 21.91, 6.04, 5.61, 3.1, 21.22, 25.43, 11.36, 11.21, 4.16, 20.55, 10.04, 5.89, 17.74, 18.39, 26.69, 7.8, 9.84, 2.65, 29.05, 36.03, 7.77, 7.76, 4.61, 12.22, 5.81, 14.77, 24.32, 14.68, 6.92, 11.67, 7.68, 8.02, 19.92, 18.0, 5.22, 17.74, 11.76, 26.88, 47.6, 42.92, 2.1]], [188, "lost_success", null], [189, "success", null], [[190, 191], "collision", [55.79, 12.93]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 631, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 19, + "init_config_idx": 40, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [21, "grasped", null], [40, "success", null], [50, "lost_success", null], [55, "success", null], [61, "lost_success", null], [85, "success", null], [92, "lost_success", null], [93, "success", null], [99, "lost_success", null], [120, "success", null], [125, "lost_success", null], [126, "success", null], [129, "lost_success", null], [130, "success", null], [137, "lost_success", null], [138, "success", null], [144, "lost_success", null], [150, "success", null], [151, "lost_success", null], [189, "success", null], [190, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 632, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 56, + "init_config_idx": 22, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [261.61, 172.68, 133.96]], [15, "contact", null], [16, "grasped", null], [[22, 23], "collision", [100.89, 0.78]], [33, "success", null], [35, "lost_success", null], [41, "success", null], [43, "lost_success", null], [45, "success", null], [63, "lost_success", null], [69, "success", null], [80, "lost_success", null], [83, "success", null], [86, "lost_success", null], [96, "success", null], [101, "lost_success", null], [105, "success", null], [111, "lost_success", null], [129, "success", null], [130, "lost_success", null], [141, "success", null], [155, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 633, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 11, + "init_config_idx": 38, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [21, "grasped", null], [42, "success", null], [55, "lost_success", null], [67, "success", null], [73, "lost_success", null], [74, "success", null], [86, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 634, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 25, + "init_config_idx": 42, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [2329.84, 104.79]], [18, "contact", null], [18, "grasped", null], [[24], "collision", [185.86]], [33, "success", null], [[35, 36], "collision", [3.8, 3.65]], [37, "lost_success", null], [[37, 38, 39, 40, 41], "collision", [5.78, 1.07, 2.48, 2.97, 3.94]], [42, "success", null], [[42, 43], "collision", [3.68, 2.77]], [47, "lost_success", null], [50, "success", null], [54, "lost_success", null], [56, "success", null], [86, "lost_success", null], [106, "success", null], [117, "lost_success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152], "collision", [1.26, 1.37, 1.29, 1.34, 1.2, 1.24, 1.19, 1.06, 1.24, 1.27, 1.26, 1.27, 1.19, 1.28, 1.2, 1.2]], [153, "success", null], [[153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166], "collision", [1.18, 1.33, 1.39, 1.21, 1.49, 1.31, 1.24, 1.33, 1.2, 1.29, 1.19, 1.24, 1.19, 1.21]], [167, "lost_success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [1.29, 1.22, 1.2, 1.26, 1.19, 1.16, 1.14, 1.1, 0.99, 0.94, 1.82, 0.98, 1.11, 0.89, 0.71, 0.57, 0.95, 0.96, 1.37, 1.33, 3.13, 2.13, 2.2, 3.76, 1.91, 1.23, 0.9, 1.83, 2.07, 2.12, 1.37, 0.76, 2.14]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 635, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 24, + "init_config_idx": 9, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [25, "grasped", null], [[37], "collision", [201.46]], [48, "success", null], [55, "lost_success", null], [56, "success", null], [[66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 93, 94, 95, 96, 97, 98, 99], "collision", [30.01, 10.42, 24.31, 75.21, 129.01, 118.38, 86.25, 193.76, 25.18, 75.14, 56.12, 211.74, 130.19, 145.73, 157.07, 119.5, 128.75, 175.01, 72.3, 58.41, 201.55, 93.5, 34.55, 46.81, 36.22, 56.1, 54.38, 3.22, 39.99, 40.87, 56.03, 2.51, 34.93]], [128, "lost_success", null], [136, "success", null], [161, "lost_success", null], [162, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 636, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 29, + "init_config_idx": 20, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [256.66, 121.5]], [15, "contact", null], [17, "grasped", null], [32, "success", null], [33, "lost_success", null], [43, "success", null], [53, "lost_success", null], [61, "success", null], [73, "lost_success", null], [78, "success", null], [[89], "collision", [65.77]], [93, "lost_success", null], [[175, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [475.3, 56.55, 27.95, 16.39, 24.56, 8.76, 3.42, 47.31, 21.96, 31.78, 23.94, 19.68, 9.49, 40.36, 32.15, 48.94, 34.45, 34.82, 63.73, 25.05, 27.87, 22.46, 55.35, 28.97]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 637, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 37, + "init_config_idx": 2, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18, 19, 20, 21, 22, 23, 24], "collision", [267.18, 265.64, 273.57, 303.51, 300.75, 315.94, 292.1, 261.8, 266.73]], [25, "contact", null], [[25], "collision", [314.34]], [26, "lost_contact", null], [33, "contact", null], [34, "lost_contact", null], [35, "contact", null], [35, "grasped", null], [[48, 49, 50, 51, 52, 53, 54], "collision", [26.11, 164.32, 174.69, 97.15, 92.58, 91.31, 35.53]], [63, "success", null], [66, "lost_success", null], [67, "success", null], [70, "lost_success", null], [71, "success", null], [74, "lost_success", null], [75, "success", null], [141, "lost_success", null], [143, "success", null], [158, "lost_success", null], [161, "success", null], [181, "lost_success", null], [182, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 638, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 47, + "init_config_idx": 0, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [43, "success", null], [45, "lost_success", null], [54, "success", null], [56, "lost_success", null], [[86, 87, 88], "collision", [73.29, 54.89, 182.82]], [90, "success", null], [105, "lost_success", null], [[135, 136, 138, 153, 156, 157], "collision", [40.49, 9.15, 14.68, 13.87, 1.44, 9.79]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 639, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 26, + "init_config_idx": 6, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [52, "lost_success", null], [53, "success", null], [54, "lost_success", null], [56, "success", null], [57, "lost_success", null], [61, "success", null], [62, "lost_success", null], [72, "success", null], [[92, 93, 96, 97, 98], "collision", [9.19, 8.44, 6.16, 6.18, 6.35]], [100, "lost_success", null], [[100, 102, 103, 104], "collision", [6.66, 6.47, 6.88, 6.73]], [114, "success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 140, 141, 142, 143, 144], "collision", [12.12, 12.38, 14.63, 16.73, 17.62, 15.99, 15.67, 13.24, 20.45, 21.59, 18.64, 13.89, 19.18, 16.98, 16.15, 9.63, 9.86, 8.09, 11.63, 12.85, 11.41, 12.94, 9.84, 15.18, 9.38, 11.3, 13.02, 9.08]], [165, "lost_success", null], [170, "success", null], [184, "lost_success", null], [185, "success", null], [187, "lost_success", null], [188, "success", null], [190, "lost_success", null], [192, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 640, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 14, + "init_config_idx": 15, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[23, 24, 26, 29, 30], "collision", [0.38, 0.06, 0.2, 371.66, 0.05]], [42, "success", null], [48, "lost_success", null], [75, "success", null], [79, "lost_success", null], [113, "success", null], [126, "lost_success", null], [136, "success", null], [144, "lost_success", null], [164, "success", null], [165, "lost_success", null], [[174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.1, 0.09, 0.08, 0.12, 0.1, 0.11, 0.1, 0.1, 0.11, 0.12, 0.11, 0.11, 0.08, 0.1, 0.09, 0.08, 0.05, 0.09, 0.07, 0.09, 0.1, 0.08, 0.1, 0.09, 0.07, 0.1]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 641, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 35, + "init_config_idx": 20, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 19, 20, 21, 22, 23, 24], "collision", [2600.58, 181.54, 170.86, 163.53, 623.78, 236.26, 278.85]], [27, "contact", null], [27, "grasped", null], [[44], "collision", [450.18]], [56, "success", null], [65, "lost_success", null], [74, "success", null], [87, "lost_success", null], [88, "success", null], [92, "lost_success", null], [94, "success", null], [105, "lost_success", null], [108, "success", null], [189, "lost_success", null], [195, "success", null], [196, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 642, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 37, + "init_config_idx": 5, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15, 17], "collision", [393.67, 198.63, 144.26, 255.17]], [19, "contact", null], [19, "grasped", null], [[20, 22, 23, 24, 25, 26], "collision", [2119.69, 0.59, 0.19, 175.48, 199.29, 0.05]], [36, "success", null], [38, "lost_success", null], [40, "success", null], [41, "lost_success", null], [[46], "collision", [0.08]], [47, "success", null], [[47], "collision", [0.08]], [48, "lost_success", null], [[48, 49, 50], "collision", [0.07, 0.06, 0.08]], [51, "success", null], [[51], "collision", [0.11]], [52, "lost_success", null], [[52], "collision", [0.11]], [53, "success", null], [[53, 54, 55], "collision", [0.16, 0.13, 0.1]], [56, "lost_success", null], [[56], "collision", [0.1]], [58, "success", null], [88, "lost_success", null], [90, "success", null], [91, "lost_success", null], [111, "success", null], [113, "lost_success", null], [117, "success", null], [135, "lost_success", null], [[145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.27, 0.25, 0.24, 0.28, 0.21, 0.18, 0.18, 0.25, 0.18, 0.2, 0.17, 0.2, 0.21, 0.28, 0.28, 0.24, 0.27, 0.27, 0.25, 0.18, 0.26, 0.27, 0.24, 0.29, 0.29, 0.26, 0.3, 0.26, 0.2, 0.17, 0.19, 0.25, 0.26, 0.24, 0.21, 0.23, 0.25, 0.28, 0.2, 0.24, 0.23, 0.22, 0.24, 0.3, 0.27, 0.26, 0.23, 0.26, 0.19, 0.25, 0.22, 0.26, 0.28, 0.29, 0.3]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 643, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 49, + "init_config_idx": 39, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [[25, 26, 27], "collision", [423.39, 57.52, 66.7]], [33, "success", null], [39, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [51, "lost_success", null], [58, "success", null], [73, "lost_success", null], [77, "success", null], [78, "lost_success", null], [90, "success", null], [91, "lost_success", null], [[142, 143, 144, 145, 146, 147, 148, 149], "collision", [18.12, 25.44, 13.25, 10.18, 11.05, 16.76, 11.96, 15.64]], [151, "success", null], [162, "lost_success", null], [163, "success", null], [169, "lost_success", null], [170, "success", null], [173, "lost_success", null], [174, "success", null], [178, "lost_success", null], [181, "success", null], [[181, 182], "collision", [18.1, 10.3]], [183, "lost_success", null], [184, "success", null], [189, "lost_success", null], [191, "success", null], [193, "lost_success", null], [195, "success", null], [196, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 644, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 19, + "init_config_idx": 26, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[8, "contact", null], [[9], "collision", [24.59]], [12, "grasped", null], [22, "success", null], [41, "lost_success", null], [[41], "collision", [194.59]], [42, "success", null], [[42], "collision", [57.38]], [43, "lost_success", null], [[43, 44], "collision", [641.96, 0.36]], [45, "success", null], [[45], "collision", [3.34]], [46, "lost_success", null], [[46], "collision", [49.64]], [47, "success", null], [[47, 48], "collision", [17.17, 23.16]], [49, "lost_success", null], [[49, 50], "collision", [29.66, 23.15]], [53, "success", null], [[54], "collision", [85.07]], [55, "lost_success", null], [[55], "collision", [185.21]], [56, "success", null], [[56, 61, 62], "collision", [75.7, 90.32, 96.36]], [63, "lost_success", null], [[63], "collision", [98.81]], [68, "success", null], [86, "lost_success", null], [[86], "collision", [466.57]], [87, "success", null], [[87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 112, 113, 114, 115], "collision", [109.57, 107.66, 67.91, 88.67, 85.74, 101.6, 52.46, 53.0, 83.94, 40.95, 26.62, 34.49, 48.01, 74.94, 78.96, 71.85, 58.1, 43.4, 7.73, 38.76, 27.91, 32.94, 49.36, 22.66, 4.44]], [128, "lost_success", null], [130, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 645, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 17, + "init_config_idx": 41, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 7, 8, 10, 14, 16], "collision", [1039.39, 593.92, 180.48, 798.56, 184.03, 99.88]], [17, "contact", null], [[17], "collision", [321.86]], [20, "grasped", null], [[20], "collision", [5.2]], [35, "success", null], [[46], "collision", [0.89]], [47, "lost_success", null], [48, "success", null], [[51], "collision", [0.01]], [62, "lost_success", null], [64, "success", null], [88, "lost_success", null], [[90, 91, 92, 93, 94], "collision", [3.68, 1.05, 1.07, 1.19, 0.45]], [95, "success", null], [[95, 96, 97, 98, 99, 100], "collision", [1.04, 1.19, 1.02, 0.99, 1.15, 1.08]], [103, "lost_success", null], [[104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [1.28, 1.24, 0.98, 0.97, 0.85, 1.59, 0.97, 1.12, 1.08, 1.12, 1.1]], [115, "success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128], "collision", [1.07, 1.01, 1.09, 1.19, 1.18, 1.1, 1.22, 1.12, 1.09, 1.1, 1.14, 1.11, 0.93, 0.92]], [141, "lost_success", null], [165, "success", null], [168, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 646, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 8, + "init_config_idx": 12, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [25, "grasped", null], [[25], "collision", [0.57]], [45, "success", null], [55, "lost_success", null], [56, "success", null], [61, "lost_success", null], [62, "success", null], [[93], "collision", [34.34]], [94, "lost_success", null], [[94], "collision", [28.49]], [95, "success", null], [[95, 96], "collision", [22.31, 17.59]], [97, "lost_success", null], [[97], "collision", [20.94]], [98, "success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 138, 139, 142], "collision", [34.68, 123.33, 54.57, 28.85, 24.55, 78.44, 130.39, 111.15, 116.92, 141.74, 68.76, 58.83, 21.98, 103.32, 98.35, 71.06, 50.74, 37.49, 219.03, 150.76, 153.59, 88.95, 97.01, 142.35, 152.34, 121.29, 170.01, 46.29, 102.05, 187.51, 59.65, 61.51, 34.44, 45.56]], [145, "lost_success", null], [148, "success", null], [192, "lost_success", null], [193, "success", null], [[193, 194, 195, 196], "collision", [206.1, 242.65, 692.88, 517.37]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 647, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 1, + "init_config_idx": 17, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [[23, 24, 25, 26], "collision", [58.94, 108.86, 111.57, 100.66]], [35, "success", null], [38, "lost_success", null], [39, "success", null], [[58], "collision", [90.07]], [83, "lost_success", null], [88, "success", null], [102, "lost_success", null], [112, "success", null], [124, "lost_success", null], [129, "success", null], [133, "lost_success", null], [164, "success", null], [168, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 648, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 36, + "init_config_idx": 32, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [40, "success", null], [46, "lost_success", null], [49, "success", null], [55, "lost_success", null], [56, "success", null], [63, "lost_success", null], [64, "success", null], [92, "lost_success", null], [[102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120], "collision", [18.83, 8.3, 7.71, 7.92, 6.78, 5.9, 6.64, 7.23, 6.39, 6.24, 5.76, 6.49, 6.51, 6.78, 11.24, 13.26, 16.03, 13.15, 11.36]], [122, "success", null], [[125], "collision", [216.88]], [126, "lost_success", null], [127, "success", null], [[127], "collision", [58.14]], [129, "lost_success", null], [[129, 130], "collision", [34.42, 23.53]], [133, "success", null], [146, "lost_success", null], [165, "success", null], [167, "lost_success", null], [180, "success", null], [182, "lost_success", null], [185, "success", null], [186, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 649, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 22, + "init_config_idx": 39, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [40, "success", null], [46, "lost_success", null], [47, "success", null], [51, "lost_success", null], [53, "success", null], [71, "lost_success", null], [75, "success", null], [105, "lost_success", null], [110, "success", null], [114, "lost_success", null], [126, "success", null], [137, "lost_success", null], [144, "success", null], [156, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 650, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 51, + "init_config_idx": 4, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 6], "collision", [545.58, 40.64]], [80, "contact", null], [81, "lost_contact", null], [[83, 84], "collision", [52.47, 153.75]], [85, "contact", null], [85, "grasped", null], [[88, 89], "collision", [472.99, 297.67]], [119, "success", null], [125, "lost_success", null], [134, "success", null], [139, "lost_success", null], [143, "success", null], [159, "lost_success", null], [163, "success", null], [187, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 651, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 50, + "init_config_idx": 8, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [253.89]], [24, "contact", null], [25, "grasped", null], [47, "success", null], [49, "lost_success", null], [51, "success", null], [52, "lost_success", null], [55, "success", null], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [66, "success", null], [67, "lost_success", null], [[67], "collision", [44.34]], [82, "success", null], [84, "lost_success", null], [107, "success", null], [124, "lost_success", null], [128, "success", null], [135, "lost_success", null], [146, "success", null], [173, "lost_success", null], [176, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 652, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 27, + "init_config_idx": 41, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [4395.42, 264.48]], [18, "contact", null], [21, "grasped", null], [37, "success", null], [[38], "collision", [0.84]], [67, "lost_success", null], [69, "success", null], [71, "lost_success", null], [[73, 74, 75, 76], "collision", [0.47, 1.68, 0.71, 0.41]], [77, "success", null], [[77, 78, 79, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [0.44, 0.3, 0.76, 0.38, 0.47, 0.44, 0.25, 0.22, 0.32, 0.48, 0.33]], [107, "lost_success", null], [[122, 123, 124, 125, 127], "collision", [0.25, 0.24, 0.27, 0.21, 0.24]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 653, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 38, + "init_config_idx": 17, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [37, "success", null], [48, "lost_success", null], [64, "success", null], [87, "lost_success", null], [91, "success", null], [127, "lost_success", null], [130, "success", null], [132, "lost_success", null], [133, "success", null], [136, "lost_success", null], [161, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 654, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 3, + "init_config_idx": 9, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [105.57]], [18, "contact", null], [18, "grasped", null], [39, "success", null], [47, "lost_success", null], [53, "success", null], [54, "lost_success", null], [55, "success", null], [56, "lost_success", null], [58, "success", null], [60, "lost_success", null], [92, "success", null], [95, "lost_success", null], [108, "success", null], [113, "lost_success", null], [127, "success", null], [128, "lost_success", null], [129, "success", null], [138, "lost_success", null], [[138, 139, 140], "collision", [402.59, 287.47, 227.86]], [141, "success", null], [[141], "collision", [181.15]], [142, "lost_success", null], [[142, 143, 144, 145, 146, 147, 148], "collision", [167.84, 149.77, 117.51, 90.48, 82.59, 62.83, 20.04]], [149, "success", null], [[149, 150, 151], "collision", [38.87, 88.96, 121.57]], [152, "lost_success", null], [[152], "collision", [115.45]], [153, "success", null], [[153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165], "collision", [79.16, 48.1, 34.7, 74.98, 62.38, 50.39, 81.42, 114.92, 60.39, 45.67, 66.22, 60.44, 5.33]], [175, "lost_success", null], [[175], "collision", [89.63]], [176, "success", null], [[176], "collision", [113.98]], [177, "lost_success", null], [[177], "collision", [131.44]], [178, "success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186], "collision", [99.32, 84.5, 89.04, 66.53, 57.6, 50.04, 45.34, 38.61, 22.53]], [193, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 655, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 31, + "init_config_idx": 14, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [171.09]], [16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [18, "grasped", null], [36, "success", null], [42, "lost_success", null], [43, "success", null], [54, "lost_success", null], [56, "success", null], [57, "lost_success", null], [60, "success", null], [67, "lost_success", null], [73, "success", null], [88, "lost_success", null], [95, "success", null], [112, "lost_success", null], [115, "success", null], [123, "lost_success", null], [127, "success", null], [128, "lost_success", null], [139, "success", null], [146, "lost_success", null], [147, "success", null], [153, "lost_success", null], [163, "success", null], [171, "lost_success", null], [174, "success", null], [178, "lost_success", null], [179, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 656, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 43, + "init_config_idx": 37, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [50, "success", null], [51, "lost_success", null], [76, "success", null], [77, "lost_success", null], [79, "success", null], [80, "lost_success", null], [88, "success", null], [97, "lost_success", null], [98, "success", null], [102, "lost_success", null], [103, "success", null], [151, "lost_success", null], [152, "success", null], [154, "lost_success", null], [155, "success", null], [167, "lost_success", null], [168, "success", null], [184, "lost_success", null], [190, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 657, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 7, + "init_config_idx": 15, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [12.68]], [18, "contact", null], [19, "grasped", null], [40, "success", null], [47, "lost_success", null], [48, "success", null], [54, "lost_success", null], [57, "success", null], [[57, 58, 59, 60, 61, 62, 63], "collision", [288.08, 5.79, 18.37, 213.79, 17.56, 14.39, 7.83]], [64, "lost_success", null], [114, "success", null], [124, "lost_success", null], [148, "success", null], [157, "lost_success", null], [[157, 158], "collision", [126.35, 25.55]], [159, "success", null], [[159, 160], "collision", [13.25, 7.43]], [161, "lost_success", null], [167, "success", null], [174, "lost_success", null], [175, "success", null], [176, "lost_success", null], [177, "success", null], [178, "lost_success", null], [180, "success", null], [183, "lost_success", null], [184, "success", null], [185, "lost_success", null], [186, "success", null], [187, "lost_success", null], [188, "success", null], [189, "lost_success", null], [191, "success", null], [192, "lost_success", null], [193, "success", null], [194, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 658, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 15, + "init_config_idx": 28, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [26, "success", null], [41, "lost_success", null], [42, "success", null], [64, "lost_success", null], [65, "success", null], [77, "lost_success", null], [80, "success", null], [87, "lost_success", null], [91, "success", null], [114, "lost_success", null], [120, "success", null], [123, "lost_success", null], [129, "success", null], [171, "lost_success", null], [179, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 659, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 36, + "init_config_idx": 25, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [479.67]], [25, "contact", null], [[25], "collision", [1209.65]], [26, "grasped", null], [[28, 29], "collision", [15.14, 53.66]], [49, "success", null], [55, "lost_success", null], [57, "success", null], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [63, "success", null], [64, "lost_success", null], [65, "success", null], [82, "lost_success", null], [103, "success", null], [133, "lost_success", null], [139, "success", null], [164, "lost_success", null], [165, "success", null], [170, "lost_success", null], [172, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 660, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 13, + "init_config_idx": 14, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 12], "collision", [130.56, 388.84]], [19, "contact", null], [20, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [[24, 28, 29], "collision", [33.88, 79.73, 217.23]], [43, "success", null], [44, "lost_success", null], [45, "success", null], [47, "lost_success", null], [50, "success", null], [[64, 65, 66, 67, 68, 69, 70], "collision", [92.64, 8.09, 14.11, 17.06, 7.28, 10.97, 18.93]], [72, "lost_success", null], [[72], "collision", [18.12]], [73, "success", null], [[73], "collision", [11.78]], [74, "lost_success", null], [[74], "collision", [11.34]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [22.34, 30.21, 23.71, 32.84, 23.26, 42.73, 23.48, 51.25, 44.27, 43.32, 43.83, 44.23, 38.77]], [88, "lost_success", null], [[88, 89, 90, 91], "collision", [35.13, 29.96, 25.04, 24.54]], [92, "success", null], [[92, 93, 94, 99, 100, 101, 102, 103, 107, 108], "collision", [29.17, 8.67, 0.81, 48.22, 15.04, 5.95, 2.75, 6.27, 13.14, 10.63]], [116, "lost_success", null], [124, "success", null], [140, "lost_success", null], [141, "success", null], [150, "lost_success", null], [[152], "collision", [169.55]], [153, "success", null], [[153, 154, 155], "collision", [114.91, 116.25, 87.47]], [156, "lost_success", null], [[156, 157, 158, 159, 160, 161], "collision", [72.54, 96.01, 44.84, 24.55, 19.1, 44.16]], [162, "success", null], [[162, 163, 164], "collision", [34.15, 27.72, 51.93]], [165, "lost_success", null], [[165, 166], "collision", [52.48, 58.67]], [167, "success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189], "collision", [63.44, 65.27, 56.99, 48.55, 43.66, 37.54, 36.83, 44.45, 40.19, 38.99, 39.58, 52.94, 66.96, 59.25, 54.38, 42.82, 39.28, 44.93, 44.79, 0.29, 0.29, 0.28, 0.29]], [190, "lost_success", null], [[190, 191], "collision", [19.12, 74.8]], [192, "success", null], [[192, 193, 194, 195, 196, 197], "collision", [43.59, 6.0, 14.71, 0.25, 0.24, 0.24]], [198, "lost_success", null], [[198], "collision", [0.25]], [199, "success", null], [[199], "collision", [0.25]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 661, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 55, + "init_config_idx": 8, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "grasped", null], [[24, 25, 27], "collision", [126.63, 115.17, 107.64]], [32, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [45, "success", null], [126, "lost_success", null], [130, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 177, 178, 179, 180, 181, 182, 183, 184, 199], "collision", [32.72, 40.13, 40.64, 41.18, 43.74, 41.46, 41.86, 41.01, 45.42, 35.88, 33.94, 36.34, 34.45, 38.55, 42.08, 48.37, 37.81, 44.02, 45.76, 43.93, 39.64, 41.94, 32.93, 30.77, 43.36, 33.54, 41.61, 37.55, 30.82, 38.1, 35.19, 38.07, 32.33, 31.8, 36.12, 30.37, 36.39, 37.95, 32.88, 33.55, 33.32, 29.98, 23.24, 9.5, 33.46]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 662, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 25, + "init_config_idx": 27, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 19, 22], "collision", [465.1, 3330.1, 31.02]], [23, "contact", null], [24, "lost_contact", null], [25, "contact", null], [25, "grasped", null], [[26, 33, 34, 35], "collision", [3.07, 24.83, 19.82, 25.79]], [47, "success", null], [48, "lost_success", null], [56, "success", null], [110, "lost_success", null], [113, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [154, "success", null], [189, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 663, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 8, + "init_config_idx": 3, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [539.7, 184.86]], [17, "contact", null], [18, "grasped", null], [[19, 22, 23], "collision", [77.67, 40.32, 28.3]], [37, "success", null], [45, "lost_success", null], [46, "success", null], [49, "lost_success", null], [52, "success", null], [53, "lost_success", null], [[53], "collision", [11.8]], [54, "success", null], [[54, 56, 57, 58, 59, 62, 63], "collision", [4.37, 15.4, 23.18, 16.93, 14.19, 18.79, 27.37]], [64, "lost_success", null], [[64, 65, 66, 67, 68, 69, 70], "collision", [42.02, 45.61, 33.69, 23.4, 19.77, 21.34, 17.07]], [71, "success", null], [[71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83], "collision", [12.67, 23.21, 22.26, 23.27, 18.96, 19.94, 31.46, 32.44, 26.93, 8.08, 4.93, 5.58, 6.72]], [84, "lost_success", null], [[84], "collision", [3.97]], [87, "success", null], [[95, 96, 97, 98, 99, 100, 101, 102, 103], "collision", [17.79, 32.33, 28.45, 21.12, 32.66, 21.95, 42.01, 39.12, 27.61]], [104, "lost_success", null], [110, "success", null], [116, "lost_success", null], [[117, 118], "collision", [230.05, 47.9]], [119, "success", null], [[120, 121, 122, 123, 124, 125, 126, 127, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164], "collision", [62.38, 50.43, 34.96, 46.91, 51.28, 94.79, 58.35, 61.63, 50.25, 56.02, 59.53, 67.58, 64.37, 58.71, 47.68, 49.08, 55.19, 45.28, 54.64, 50.06, 54.66, 42.93, 38.82, 57.39, 42.67, 42.96, 55.97, 41.9, 39.03, 43.55, 51.43, 51.28, 58.26, 71.75, 66.16, 64.29, 64.6, 72.28, 58.67, 65.54, 52.5, 41.02, 38.67, 26.81]], [165, "lost_success", null], [[165, 166, 168], "collision", [17.23, 40.29, 66.09]], [169, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 664, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 16, + "init_config_idx": 38, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [16.15, 146.64]], [11, "contact", null], [11, "grasped", null], [23, "success", null], [35, "lost_success", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [47, "lost_success", null], [51, "success", null], [54, "lost_success", null], [55, "success", null], [73, "lost_success", null], [80, "success", null], [96, "lost_success", null], [97, "success", null], [100, "lost_success", null], [101, "success", null], [103, "lost_success", null], [112, "success", null], [124, "lost_success", null], [125, "success", null], [127, "lost_success", null], [184, "success", null], [196, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 665, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 30, + "init_config_idx": 48, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [25, "success", null], [36, "lost_success", null], [37, "success", null], [44, "lost_success", null], [46, "success", null], [48, "lost_success", null], [57, "success", null], [60, "lost_success", null], [66, "success", null], [75, "lost_success", null], [175, "success", null], [184, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 666, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 4, + "init_config_idx": 39, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[28], "collision", [151.19]], [40, "success", null], [44, "lost_success", null], [46, "success", null], [47, "lost_success", null], [49, "success", null], [58, "lost_success", null], [64, "success", null], [66, "lost_success", null], [72, "success", null], [93, "lost_success", null], [94, "success", null], [136, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 667, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 57, + "init_config_idx": 27, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17], "collision", [223.7, 208.38]], [19, "contact", null], [20, "grasped", null], [39, "success", null], [43, "lost_success", null], [48, "success", null], [50, "lost_success", null], [52, "success", null], [60, "lost_success", null], [61, "success", null], [[65, 66, 67, 68, 69, 70, 71], "collision", [4.11, 19.54, 7.67, 10.45, 9.21, 6.83, 0.1]], [82, "lost_success", null], [83, "success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "collision", [85.64, 26.79, 27.25, 31.36, 32.1, 31.36, 30.05, 23.13, 27.26, 33.28, 21.74, 21.96, 24.94, 13.77]], [105, "lost_success", null], [109, "success", null], [[120, 121, 125, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142], "collision", [16.04, 7.04, 40.27, 61.27, 24.76, 54.93, 37.91, 46.3, 61.2, 40.02, 45.4, 41.81, 59.41, 18.9, 56.33, 48.75, 44.44, 64.2]], [143, "lost_success", null], [[143, 144], "collision", [75.41, 73.0]], [145, "success", null], [[145], "collision", [44.08]], [146, "lost_success", null], [[146, 147, 148], "collision", [38.42, 36.34, 68.56]], [150, "success", null], [[151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182], "collision", [59.11, 26.33, 60.21, 19.09, 24.04, 46.79, 20.5, 28.59, 26.29, 35.28, 50.42, 63.27, 61.95, 69.84, 61.95, 73.21, 72.62, 56.11, 75.38, 52.45, 51.96, 48.48, 61.68, 76.49, 69.17, 73.24, 95.15, 54.82, 56.71, 69.94, 33.87, 13.58]], [183, "lost_success", null], [[183, 184, 185, 186, 187], "collision", [33.4, 53.26, 79.99, 13.91, 8.66]], [192, "success", null], [[193, 194, 195, 196, 198, 199], "collision", [8.09, 16.5, 6.77, 13.27, 10.44, 15.66]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 668, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 18, + "init_config_idx": 32, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [33, "success", null], [54, "lost_success", null], [59, "success", null], [83, "lost_success", null], [90, "success", null], [98, "lost_success", null], [120, "success", null], [127, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 669, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 1, + "init_config_idx": 38, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [38, "success", null], [39, "lost_success", null], [54, "success", null], [56, "lost_success", null], [68, "success", null], [73, "lost_success", null], [79, "success", null], [89, "lost_success", null], [100, "success", null], [110, "lost_success", null], [129, "success", null], [133, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 670, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 23, + "init_config_idx": 43, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [12.5]], [21, "contact", null], [22, "grasped", null], [[22, 24], "collision", [5.81, 3.65]], [39, "success", null], [100, "lost_success", null], [113, "success", null], [128, "lost_success", null], [142, "success", null], [159, "lost_success", null], [169, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [191, "success", null], [193, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 671, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 30, + "init_config_idx": 31, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [248.91]], [17, "contact", null], [[18], "collision", [11.19]], [20, "grasped", null], [[24, 25], "collision", [88.54, 53.2]], [50, "success", null], [62, "lost_success", null], [98, "success", null], [137, "lost_success", null], [142, "success", null], [145, "lost_success", null], [147, "success", null], [148, "lost_success", null], [154, "success", null], [162, "lost_success", null], [170, "success", null], [171, "lost_success", null], [172, "success", null], [190, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 672, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 0, + "init_config_idx": 36, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "lost_contact", null], [23, "contact", null], [24, "lost_contact", null], [46, "contact", null], [48, "grasped", null], [[49], "collision", [34.73]], [89, "success", null], [119, "lost_success", null], [122, "success", null], [124, "lost_success", null], [126, "success", null], [127, "lost_success", null], [128, "success", null], [129, "lost_success", null], [133, "success", null], [[148, 149, 150, 151, 156], "collision", [48.24, 76.05, 65.06, 25.67, 104.7]], [157, "lost_success", null], [[157], "collision", [117.09]], [158, "success", null], [[158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181], "collision", [113.76, 50.75, 70.96, 45.85, 86.63, 109.92, 114.42, 85.15, 64.39, 85.84, 59.89, 155.64, 99.79, 32.91, 53.08, 59.81, 50.91, 14.57, 61.72, 47.94, 42.39, 55.54, 57.72, 11.19]], [184, "lost_success", null], [185, "success", null], [[185], "collision", [122.75]], [186, "lost_success", null], [[186, 187, 188, 189, 190], "collision", [111.93, 67.07, 60.64, 76.06, 24.03]], [192, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 673, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 32, + "init_config_idx": 43, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [306.73]], [16, "contact", null], [17, "grasped", null], [[20, 21, 22], "collision", [162.99, 92.37, 330.55]], [34, "success", null], [38, "lost_success", null], [74, "success", null], [82, "lost_success", null], [97, "success", null], [108, "lost_success", null], [115, "success", null], [123, "lost_success", null], [127, "success", null], [129, "lost_success", null], [130, "success", null], [145, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 674, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 5, + "init_config_idx": 2, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [12, "grasped", null], [29, "success", null], [31, "lost_success", null], [33, "success", null], [34, "lost_success", null], [35, "success", null], [36, "lost_success", null], [40, "success", null], [42, "lost_success", null], [43, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [[53], "collision", [129.65]], [54, "success", null], [[54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98], "collision", [57.74, 43.85, 45.64, 51.5, 48.51, 51.04, 68.61, 158.63, 236.06, 163.0, 149.03, 181.21, 132.87, 93.97, 99.07, 132.32, 118.87, 98.55, 36.44, 36.21, 20.62, 41.29, 30.41, 80.42, 57.91, 59.62, 99.85, 83.38, 64.96, 45.24, 132.72, 41.87, 46.98, 50.11, 41.73, 44.89, 39.69, 40.92, 39.8, 44.73, 42.63, 57.5, 57.1, 63.23, 98.72]], [99, "lost_success", null], [100, "success", null], [[110, 111, 113, 114, 116, 117, 118, 119, 120], "collision", [139.46, 106.84, 16.3, 89.3, 89.74, 46.98, 36.89, 40.09, 0.03]], [126, "lost_success", null], [131, "success", null], [132, "lost_success", null], [133, "success", null], [149, "lost_success", null], [151, "success", null], [172, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 675, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 28, + "init_config_idx": 26, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 9, 10, 11, 12, 13], "collision", [381.74, 50.52, 113.03, 306.07, 209.55, 87.94]], [16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [18, "grasped", null], [47, "success", null], [63, "lost_success", null], [69, "success", null], [76, "lost_success", null], [77, "success", null], [96, "lost_success", null], [99, "success", null], [110, "lost_success", null], [113, "success", null], [118, "lost_success", null], [131, "success", null], [141, "lost_success", null], [[141, 142, 143, 144, 146, 147, 148, 149, 150, 151], "collision", [45.76, 47.91, 47.52, 27.27, 27.34, 17.98, 13.05, 17.1, 12.25, 6.25]], [152, "success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163], "collision", [18.72, 22.08, 24.1, 25.99, 22.29, 24.84, 24.31, 52.45, 31.19, 39.24, 35.85, 37.55]], [164, "lost_success", null], [[164, 165], "collision", [31.9, 27.14]], [166, "success", null], [[166, 167], "collision", [32.98, 44.8]], [168, "lost_success", null], [[168], "collision", [9.36]], [169, "success", null], [[169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [58.63, 43.18, 34.94, 47.7, 63.22, 60.27, 63.95, 71.96, 71.76, 99.96, 76.88, 79.69, 73.92, 77.4, 84.68, 80.62, 81.36, 57.68, 68.09, 53.32, 56.15, 72.91, 61.41, 42.78, 32.1, 28.91, 31.64, 28.91, 36.46, 32.34, 44.11]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 676, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 30, + "init_config_idx": 18, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [23, "lost_contact", null], [24, "contact", null], [30, "lost_contact", null], [31, "contact", null], [32, "lost_contact", null], [34, "contact", null], [34, "grasped", null], [[36, 39], "collision", [480.1, 217.4]], [54, "success", null], [55, "lost_success", null], [66, "success", null], [67, "lost_success", null], [69, "success", null], [77, "lost_success", null], [83, "success", null], [112, "lost_success", null], [113, "success", null], [116, "lost_success", null], [129, "success", null], [151, "lost_success", null], [157, "success", null], [164, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 677, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 0, + "init_config_idx": 45, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 19], "collision", [677.59, 387.85, 193.39]], [20, "contact", null], [21, "grasped", null], [[33], "collision", [289.1]], [39, "success", null], [[40], "collision", [103.9]], [48, "lost_success", null], [56, "success", null], [57, "lost_success", null], [59, "success", null], [60, "lost_success", null], [62, "success", null], [64, "lost_success", null], [65, "success", null], [68, "lost_success", null], [69, "success", null], [[72, 73, 74], "collision", [56.08, 55.63, 60.26]], [75, "lost_success", null], [[75], "collision", [63.98]], [76, "success", null], [[76, 77, 78, 79, 80, 81, 82], "collision", [59.0, 71.66, 53.14, 65.57, 69.89, 4.23, 32.93]], [83, "lost_success", null], [[83, 84, 85, 86, 87], "collision", [60.18, 69.34, 68.96, 75.06, 89.94]], [88, "success", null], [[88, 89], "collision", [43.05, 45.21]], [90, "lost_success", null], [[90], "collision", [61.57]], [91, "success", null], [[91, 92, 93, 98, 99, 100], "collision", [56.62, 35.37, 42.72, 47.45, 55.68, 62.11]], [101, "lost_success", null], [[101, 102], "collision", [18.17, 34.59]], [103, "success", null], [[103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122], "collision", [81.79, 105.69, 79.43, 15.66, 47.49, 66.35, 23.55, 25.02, 78.83, 56.97, 62.89, 63.88, 39.97, 7.07, 85.17, 118.77, 88.88, 120.24, 112.49, 50.0]], [160, "lost_success", null], [163, "success", null], [182, "lost_success", null], [185, "success", null], [195, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 678, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 27, + "init_config_idx": 5, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [13, "grasped", null], [24, "success", null], [31, "lost_success", null], [32, "success", null], [38, "lost_success", null], [40, "success", null], [[44, 45, 46, 47, 48, 49, 50, 52, 53, 54, 55], "collision", [6.31, 280.78, 92.81, 338.16, 51.66, 62.89, 223.7, 67.28, 7.94, 85.44, 17.74]], [105, "lost_success", null], [106, "success", null], [[121, 122, 123], "collision", [20.92, 57.41, 76.19]], [124, "lost_success", null], [[124, 125, 126], "collision", [97.9, 66.48, 54.1]], [127, "success", null], [[127, 128, 129, 130], "collision", [57.05, 75.93, 63.26, 68.53]], [131, "lost_success", null], [[131, 132, 133, 134], "collision", [99.71, 112.81, 72.41, 35.55]], [135, "success", null], [[136], "collision", [52.36]], [137, "lost_success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145, 147, 148, 150, 151, 152, 153, 156, 158, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 173, 174, 175, 197, 198, 199], "collision", [43.14, 69.9, 55.91, 52.87, 64.03, 60.33, 44.16, 29.05, 31.56, 23.65, 32.95, 38.0, 29.4, 42.68, 16.67, 37.76, 13.54, 43.74, 32.02, 37.13, 37.09, 41.9, 53.58, 89.71, 83.28, 78.93, 62.96, 38.48, 13.43, 349.66, 17.16, 6.91, 8.8]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 679, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 33, + "init_config_idx": 19, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16], "collision", [3107.76, 185.51]], [20, "contact", null], [20, "grasped", null], [[26], "collision", [79.54]], [38, "success", null], [41, "lost_success", null], [47, "success", null], [49, "lost_success", null], [50, "success", null], [52, "lost_success", null], [56, "success", null], [61, "lost_success", null], [68, "success", null], [80, "lost_success", null], [108, "success", null], [122, "lost_success", null], [123, "success", null], [126, "lost_success", null], [127, "success", null], [147, "lost_success", null], [149, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 680, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 26, + "init_config_idx": 33, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [34, "success", null], [37, "lost_success", null], [48, "success", null], [54, "lost_success", null], [58, "success", null], [63, "lost_success", null], [79, "success", null], [85, "lost_success", null], [90, "success", null], [103, "lost_success", null], [114, "success", null], [123, "lost_success", null], [142, "success", null], [148, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 681, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 38, + "init_config_idx": 34, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [60, "success", null], [71, "lost_success", null], [72, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [137.86, 110.95, 90.74, 187.05, 175.71, 157.12, 73.9, 65.93, 141.06, 46.6, 62.01, 75.56, 41.13, 77.93, 18.01, 138.86, 38.57]], [137, "lost_success", null], [148, "success", null], [170, "lost_success", null], [171, "success", null], [179, "lost_success", null], [182, "success", null], [186, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 682, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 46, + "init_config_idx": 11, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [28, "success", null], [29, "lost_success", null], [55, "success", null], [65, "lost_success", null], [69, "success", null], [71, "lost_success", null], [76, "success", null], [96, "lost_success", null], [111, "success", null], [112, "lost_success", null], [113, "success", null], [114, "lost_success", null], [137, "success", null], [138, "lost_success", null], [140, "success", null], [149, "lost_success", null], [150, "success", null], [165, "lost_success", null], [166, "success", null], [170, "lost_success", null], [171, "success", null], [175, "lost_success", null], [176, "success", null], [177, "lost_success", null], [178, "success", null], [181, "lost_success", null], [182, "success", null], [185, "lost_success", null], [186, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null], [197, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 683, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 46, + "init_config_idx": 41, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22, 24], "collision", [0.43, 0.31]], [28, "contact", null], [[28, 29], "collision", [0.32, 1.81]], [30, "lost_contact", null], [[31, 32], "collision", [0.68, 0.69]], [37, "contact", null], [38, "lost_contact", null], [39, "contact", null], [[39, 40, 41, 43], "collision", [0.27, 3.02, 1.29, 9.06]], [44, "grasped", null], [[44], "collision", [5.25]], [66, "success", null], [72, "lost_success", null], [73, "success", null], [75, "lost_success", null], [76, "success", null], [82, "lost_success", null], [83, "success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [39.65, 67.54, 100.41, 72.62, 87.54, 75.66, 34.18, 49.7, 64.14]], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [[108, 109], "collision", [0.04, 0.05]], [110, "lost_success", null], [[110], "collision", [0.05]], [111, "success", null], [[111], "collision", [0.04]], [112, "lost_success", null], [[112], "collision", [0.08]], [113, "success", null], [[113], "collision", [0.04]], [117, "lost_success", null], [118, "success", null], [120, "lost_success", null], [[127, 128], "collision", [22.18, 4.84]], [129, "success", null], [135, "lost_success", null], [136, "success", null], [140, "lost_success", null], [[147, 148, 149, 150, 151], "collision", [0.18, 0.26, 0.34, 0.4, 0.51]], [152, "success", null], [[152, 153], "collision", [0.44, 0.23]], [154, "lost_success", null], [[154, 155, 156, 157, 158, 159, 160, 161], "collision", [0.47, 0.46, 0.44, 0.36, 0.41, 0.44, 0.47, 0.45]], [162, "success", null], [[162, 163, 164], "collision", [0.36, 0.24, 0.09]], [184, "lost_success", null], [188, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 684, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 53, + "init_config_idx": 3, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [170.58, 284.27]], [12, "contact", null], [13, "lost_contact", null], [14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [19, "lost_contact", null], [21, "contact", null], [21, "grasped", null], [32, "success", null], [33, "lost_success", null], [[35, 36], "collision", [0.58, 0.17]], [37, "success", null], [40, "lost_success", null], [[41], "collision", [9.63]], [42, "success", null], [[43, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56], "collision", [0.38, 0.92, 1.28, 0.98, 1.68, 0.08, 69.12, 61.38, 4.55, 40.96, 24.32, 33.41]], [57, "lost_success", null], [[57], "collision", [37.72]], [58, "success", null], [59, "lost_success", null], [67, "success", null], [83, "lost_success", null], [84, "success", null], [85, "lost_success", null], [86, "success", null], [145, "lost_success", null], [146, "success", null], [148, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 685, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 13, + "init_config_idx": 26, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[24, 34, 35, 36, 37, 38, 39, 40, 41, 42, 45, 46], "collision", [0.23, 59.6, 68.35, 80.06, 82.36, 85.62, 88.43, 110.14, 106.08, 107.1, 94.52, 9.31]], [50, "success", null], [135, "lost_success", null], [138, "success", null], [145, "lost_success", null], [149, "success", null], [159, "lost_success", null], [163, "success", null], [185, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 686, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 24, + "init_config_idx": 12, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [[35], "collision", [7.49]], [43, "success", null], [[44, 45, 46], "collision", [0.33, 0.28, 0.27]], [47, "lost_success", null], [[47], "collision", [0.27]], [48, "success", null], [[48, 49, 50, 51, 52, 53, 54, 55, 56], "collision", [0.31, 0.22, 0.25, 0.24, 0.24, 0.23, 0.24, 0.22, 0.21]], [57, "lost_success", null], [[57], "collision", [0.2]], [58, "success", null], [[58, 59, 60, 61, 62], "collision", [0.18, 0.22, 0.21, 0.19, 0.2]], [63, "lost_success", null], [64, "success", null], [73, "lost_success", null], [[76, 77, 78], "collision", [90.21, 83.67, 82.37]], [79, "success", null], [[80, 81], "collision", [50.63, 59.18]], [82, "lost_success", null], [[83, 84], "collision", [85.84, 15.29]], [85, "success", null], [[85], "collision", [53.39]], [86, "lost_success", null], [[86], "collision", [63.86]], [87, "success", null], [[87], "collision", [80.17]], [88, "lost_success", null], [[88], "collision", [55.65]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95], "collision", [52.45, 34.68, 73.39, 16.78, 21.92, 32.14, 41.06]], [97, "lost_success", null], [[97], "collision", [40.58]], [98, "success", null], [[98, 99, 100, 101, 102, 103], "collision", [27.1, 26.15, 33.93, 26.82, 24.75, 29.38]], [104, "lost_success", null], [[105, 106], "collision", [16.62, 9.97]], [109, "success", null], [[110], "collision", [14.92]], [111, "lost_success", null], [[111], "collision", [8.98]], [112, "success", null], [[112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 128, 129, 130], "collision", [17.03, 21.99, 35.59, 42.95, 47.68, 62.67, 61.01, 76.81, 53.95, 51.69, 58.11, 57.54, 0.37, 0.31, 0.32, 0.38, 0.31, 0.31]], [131, "lost_success", null], [[132], "collision", [0.31]], [133, "success", null], [[133, 134, 135], "collision", [0.31, 0.31, 0.26]], [136, "lost_success", null], [[136, 137], "collision", [0.27, 0.26]], [138, "success", null], [[138, 139, 140], "collision", [0.31, 0.31, 0.32]], [141, "lost_success", null], [[141], "collision", [0.25]], [142, "success", null], [[142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152], "collision", [0.33, 0.32, 0.32, 0.32, 0.32, 0.32, 0.32, 0.33, 0.33, 0.33, 0.33]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 687, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 8, + "init_config_idx": 7, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [124.32]], [17, "contact", null], [18, "grasped", null], [37, "success", null], [38, "lost_success", null], [40, "success", null], [[51], "collision", [15.44]], [52, "lost_success", null], [[52], "collision", [8.57]], [54, "success", null], [56, "lost_success", null], [[56], "collision", [21.87]], [57, "success", null], [[57, 58], "collision", [18.19, 7.31]], [59, "lost_success", null], [[59], "collision", [5.5]], [69, "success", null], [76, "lost_success", null], [[77], "collision", [11.63]], [85, "success", null], [[88, 89, 90, 91, 92, 93], "collision", [52.09, 26.63, 47.16, 32.7, 37.45, 40.46]], [94, "lost_success", null], [[95], "collision", [58.22]], [96, "success", null], [[96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 134, 135], "collision", [52.36, 38.73, 46.07, 29.39, 13.46, 28.34, 27.4, 22.27, 18.94, 6.62, 13.2, 13.23, 6.98, 22.84, 10.26, 19.0, 35.59, 51.03, 41.94, 93.63, 89.11, 75.7, 60.15, 53.36, 58.44, 45.66, 25.2, 18.62, 13.76, 27.21, 26.5, 18.44, 16.6, 20.77, 41.25, 40.15, 12.0, 22.72]], [136, "lost_success", null], [138, "success", null], [[139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173], "collision", [45.75, 39.87, 30.28, 29.01, 4.94, 18.13, 27.73, 31.77, 28.54, 40.93, 34.16, 29.32, 38.87, 19.25, 24.59, 52.09, 71.47, 63.74, 24.38, 19.9, 27.9, 32.37, 19.63, 22.33, 27.42, 39.37, 74.99, 31.75, 52.66, 39.32, 33.37, 38.72, 24.31, 15.39, 10.4]], [174, "lost_success", null], [[176, 177], "collision", [20.81, 30.55]], [178, "success", null], [[178, 179, 180, 181, 182], "collision", [21.73, 28.46, 36.02, 22.94, 37.01]], [183, "lost_success", null], [[183, 186, 188, 189], "collision", [59.77, 42.05, 11.77, 35.13]], [190, "success", null], [[190, 191, 192, 193, 194], "collision", [27.52, 36.5, 25.26, 43.98, 27.03]], [195, "lost_success", null], [[195, 196], "collision", [31.52, 35.94]], [197, "success", null], [[197, 198, 199], "collision", [22.66, 26.14, 29.9]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 688, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 3, + "init_config_idx": 0, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [21, "grasped", null], [44, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [60, "lost_success", null], [[62], "collision", [88.03]], [71, "success", null], [75, "lost_success", null], [76, "success", null], [83, "lost_success", null], [85, "success", null], [91, "lost_success", null], [94, "success", null], [101, "lost_success", null], [102, "success", null], [151, "lost_success", null], [181, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 689, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 34, + "init_config_idx": 14, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[28, 29], "collision", [654.21, 280.85]], [41, "success", null], [42, "lost_success", null], [44, "success", null], [60, "lost_success", null], [62, "success", null], [68, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [79, "lost_success", null], [80, "success", null], [83, "lost_success", null], [86, "success", null], [93, "lost_success", null], [98, "success", null], [132, "lost_success", null], [138, "success", null], [140, "lost_success", null], [142, "success", null], [144, "lost_success", null], [153, "success", null], [165, "lost_success", null], [168, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 690, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 32, + "init_config_idx": 9, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 17, 18], "collision", [0.54, 141.64, 146.83]], [20, "contact", null], [21, "grasped", null], [42, "success", null], [52, "lost_success", null], [55, "success", null], [56, "lost_success", null], [58, "success", null], [61, "lost_success", null], [[61], "collision", [193.52]], [62, "success", null], [[62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [139.27, 78.44, 88.55, 77.89, 86.75, 100.39, 92.42, 95.51, 83.13, 55.41, 71.22, 34.16, 23.0, 18.87, 9.95]], [77, "lost_success", null], [80, "success", null], [83, "lost_success", null], [84, "success", null], [96, "lost_success", null], [113, "success", null], [142, "lost_success", null], [149, "success", null], [178, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 691, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 29, + "init_config_idx": 23, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [266.57, 298.3]], [16, "contact", null], [16, "grasped", null], [[20], "collision", [230.53]], [30, "success", null], [36, "lost_success", null], [37, "success", null], [38, "lost_success", null], [39, "success", null], [43, "lost_success", null], [45, "success", null], [46, "lost_success", null], [47, "success", null], [52, "lost_success", null], [53, "success", null], [62, "lost_success", null], [64, "success", null], [76, "lost_success", null], [78, "success", null], [90, "lost_success", null], [91, "success", null], [104, "lost_success", null], [109, "success", null], [115, "lost_success", null], [120, "success", null], [160, "lost_success", null], [170, "success", null], [191, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 692, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 0, + "init_config_idx": 17, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [463.98]], [20, "contact", null], [25, "lost_contact", null], [28, "contact", null], [30, "grasped", null], [54, "success", null], [55, "lost_success", null], [57, "success", null], [58, "lost_success", null], [61, "success", null], [68, "lost_success", null], [69, "success", null], [73, "lost_success", null], [77, "success", null], [82, "lost_success", null], [83, "success", null], [85, "lost_success", null], [87, "success", null], [[89, 90, 91, 92], "collision", [6.56, 39.84, 9.25, 14.51]], [94, "lost_success", null], [101, "success", null], [111, "lost_success", null], [114, "success", null], [118, "lost_success", null], [126, "success", null], [136, "lost_success", null], [[136], "collision", [143.24]], [137, "success", null], [[137, 138], "collision", [92.73, 91.96]], [139, "lost_success", null], [[139, 140, 141, 142], "collision", [78.71, 66.69, 58.65, 79.39]], [143, "success", null], [[143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155], "collision", [78.39, 74.67, 78.41, 72.73, 66.76, 76.04, 67.74, 59.88, 74.19, 89.41, 72.12, 78.55, 58.26]], [156, "lost_success", null], [[156, 157, 158, 159], "collision", [45.62, 74.25, 50.61, 68.75]], [160, "success", null], [[160], "collision", [81.98]], [161, "lost_success", null], [162, "success", null], [[162], "collision", [5.37]], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [167, "success", null], [168, "lost_success", null], [169, "success", null], [170, "lost_success", null], [171, "success", null], [174, "lost_success", null], [178, "success", null], [187, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 693, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 1, + "init_config_idx": 17, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 12, 14, 15, 16, 17, 21, 22], "collision", [405.69, 481.29, 142.22, 165.01, 158.56, 149.62, 150.65, 393.64, 445.15]], [26, "contact", null], [27, "lost_contact", null], [28, "contact", null], [28, "grasped", null], [[28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [6.35, 2.69, 3.12, 3.61, 3.26, 2.07, 0.96, 0.99, 0.91, 1.06, 0.94, 1.01, 1.14, 1.15, 1.08, 1.13, 1.09, 1.1, 1.04]], [47, "success", null], [[47, 48, 49, 50, 51, 52, 53, 54, 55], "collision", [1.16, 1.08, 1.16, 1.14, 0.92, 1.0, 1.01, 0.83, 0.96]], [56, "lost_success", null], [[56], "collision", [1.05]], [57, "success", null], [[57], "collision", [1.04]], [58, "lost_success", null], [[58], "collision", [1.14]], [59, "success", null], [[59, 60], "collision", [0.94, 1.01]], [61, "lost_success", null], [[61, 62, 63], "collision", [1.05, 1.06, 1.11]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72], "collision", [1.12, 1.11, 1.13, 1.07, 1.06, 1.05, 1.07, 1.06, 1.06]], [73, "lost_success", null], [[73, 74, 75, 76], "collision", [1.06, 1.07, 1.08, 1.08]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98], "collision", [1.04, 1.12, 0.99, 1.09, 1.07, 1.04, 1.08, 1.07, 1.1, 17.99, 9.93, 10.05, 9.46, 9.39, 9.27, 9.22, 8.83, 8.81, 8.33, 8.89, 17.67, 18.05]], [99, "lost_success", null], [[99, 100], "collision", [10.51, 8.75]], [101, "success", null], [[101], "collision", [9.78]], [102, "lost_success", null], [[102, 103, 104], "collision", [9.81, 10.18, 9.24]], [105, "success", null], [[105, 106], "collision", [9.62, 9.68]], [107, "lost_success", null], [[107, 108], "collision", [51.68, 22.53]], [109, "success", null], [[109], "collision", [26.65]], [110, "lost_success", null], [[110, 111, 112, 113, 114, 115, 116, 117, 118, 119], "collision", [0.75, 63.85, 1.0, 1.07, 1.01, 1.05, 1.1, 1.03, 1.06, 1.05]], [120, "success", null], [[120, 121, 122, 123], "collision", [1.08, 1.07, 1.02, 18.97]], [124, "lost_success", null], [[124], "collision", [11.73]], [125, "success", null], [[125, 126], "collision", [11.21, 0.95]], [127, "lost_success", null], [[127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [1.1, 1.08, 0.9, 1.1, 0.97, 1.01, 1.05, 0.93, 1.08, 1.0, 1.12]], [138, "success", null], [[138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161], "collision", [0.96, 1.13, 1.1, 1.06, 1.1, 0.98, 1.08, 1.09, 1.13, 1.04, 1.1, 0.95, 1.1, 1.11, 1.08, 1.08, 0.94, 1.08, 1.09, 1.15, 1.11, 1.11, 0.88, 0.99]], [162, "lost_success", null], [[162, 163], "collision", [0.95, 1.1]], [164, "success", null], [[164, 165, 166, 167, 168, 169], "collision", [1.06, 1.1, 1.09, 1.05, 1.04, 1.13]], [170, "lost_success", null], [[170], "collision", [1.12]], [171, "success", null], [[171], "collision", [0.98]], [172, "lost_success", null], [[172], "collision", [1.04]], [173, "success", null], [[173, 174], "collision", [1.05, 1.14]], [175, "lost_success", null], [[175], "collision", [1.04]], [176, "success", null], [[176, 177, 178, 179, 180, 181, 182, 183], "collision", [1.11, 1.08, 1.12, 1.12, 0.95, 1.14, 0.94, 1.13]], [184, "lost_success", null], [[184], "collision", [1.13]], [185, "success", null], [[185, 186], "collision", [1.08, 1.15]], [187, "lost_success", null], [[187, 188, 189], "collision", [1.06, 1.21, 1.14]], [190, "success", null], [[190, 191, 192, 193, 194, 195, 196], "collision", [1.15, 1.06, 1.17, 1.07, 1.19, 1.15, 1.19]], [197, "lost_success", null], [[197], "collision", [1.06]], [198, "success", null], [[198, 199], "collision", [1.04, 1.15]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 694, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 40, + "init_config_idx": 31, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[31], "collision", [44.67]], [42, "success", null], [44, "lost_success", null], [48, "success", null], [87, "lost_success", null], [91, "success", null], [97, "lost_success", null], [99, "success", null], [132, "lost_success", null], [133, "success", null], [138, "lost_success", null], [139, "success", null], [153, "lost_success", null], [154, "success", null], [166, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 695, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 0, + "init_config_idx": 17, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "lost_contact", null], [[19], "collision", [2127.93]], [20, "contact", null], [[20, 21], "collision", [0.32, 1.96]], [22, "lost_contact", null], [25, "contact", null], [27, "grasped", null], [60, "success", null], [73, "lost_success", null], [96, "success", null], [97, "lost_success", null], [98, "success", null], [134, "lost_success", null], [135, "success", null], [185, "lost_success", null], [[185], "collision", [1219.17]], [187, "success", null], [190, "lost_success", null], [[190, 191], "collision", [405.98, 291.56]], [192, "success", null], [[192, 193, 195, 196, 197, 199], "collision", [106.79, 194.68, 39.53, 83.66, 26.15, 153.47]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 696, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 14, + "init_config_idx": 7, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [258.35, 87.57]], [14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [16, "grasped", null], [28, "success", null], [47, "lost_success", null], [51, "success", null], [58, "lost_success", null], [59, "success", null], [77, "lost_success", null], [79, "success", null], [85, "lost_success", null], [86, "success", null], [93, "lost_success", null], [102, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [107, "success", null], [120, "lost_success", null], [122, "success", null], [131, "lost_success", null], [134, "success", null], [135, "lost_success", null], [137, "success", null], [158, "lost_success", null], [159, "success", null], [164, "lost_success", null], [165, "success", null], [168, "lost_success", null], [169, "success", null], [172, "lost_success", null], [174, "success", null], [175, "lost_success", null], [176, "success", null], [180, "lost_success", null], [181, "success", null], [182, "lost_success", null], [183, "success", null], [186, "lost_success", null], [188, "success", null], [189, "lost_success", null], [190, "success", null], [192, "lost_success", null], [193, "success", null], [195, "lost_success", null], [198, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 697, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 35, + "init_config_idx": 28, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [36, "success", null], [119, "lost_success", null], [129, "success", null], [139, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 698, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 28, + "init_config_idx": 49, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [212.86]], [13, "contact", null], [15, "grasped", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [43, "lost_success", null], [45, "success", null], [46, "lost_success", null], [47, "success", null], [50, "lost_success", null], [62, "success", null], [74, "lost_success", null], [82, "success", null], [94, "lost_success", null], [98, "success", null], [99, "lost_success", null], [104, "success", null], [115, "lost_success", null], [121, "success", null], [130, "lost_success", null], [138, "success", null], [152, "lost_success", null], [156, "success", null], [158, "lost_success", null], [161, "success", null], [169, "lost_success", null], [175, "success", null], [185, "lost_success", null], [187, "success", null], [188, "lost_success", null], [193, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 699, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 15, + "init_config_idx": 17, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [44, "success", null], [48, "lost_success", null], [51, "success", null], [69, "lost_success", null], [85, "success", null], [97, "lost_success", null], [[102, 103], "collision", [11.59, 6.3]], [104, "success", null], [[104, 105, 106, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 124, 125, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 162, 163, 164], "collision", [6.74, 6.61, 6.47, 9.67, 9.48, 10.99, 10.63, 9.79, 10.39, 10.15, 8.7, 8.66, 9.07, 7.82, 6.77, 7.77, 3.33, 4.43, 6.79, 5.52, 1.89, 2.56, 3.62, 7.3, 9.85, 9.76, 8.93, 9.95, 9.21, 9.12, 7.86, 8.86, 8.77, 8.41, 8.36, 7.89, 7.16, 8.31, 10.29, 9.0, 7.53, 2.19, 7.86, 9.91, 8.73, 8.31, 8.13, 6.85, 7.66, 8.04, 7.27, 7.02, 6.45, 8.66, 8.6, 7.76]], [165, "lost_success", null], [[165, 166], "collision", [7.13, 6.96]], [167, "success", null], [[167, 168], "collision", [4.66, 5.82]], [179, "lost_success", null], [[179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191], "collision", [6.92, 6.45, 6.25, 7.31, 7.5, 6.76, 6.74, 5.9, 6.0, 4.2, 5.09, 4.65, 5.0]], [192, "success", null], [[192, 193], "collision", [5.66, 5.83]], [194, "lost_success", null], [[194, 195, 196, 197], "collision", [6.45, 6.28, 7.42, 4.49]], [198, "success", null], [[198], "collision", [5.79]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 700, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 33, + "init_config_idx": 21, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [2830.77, 94.29, 285.77]], [10, "contact", null], [[10], "collision", [0.2]], [12, "grasped", null], [25, "success", null], [37, "lost_success", null], [40, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [47, "success", null], [79, "lost_success", null], [89, "success", null], [95, "lost_success", null], [98, "success", null], [104, "lost_success", null], [111, "success", null], [118, "lost_success", null], [120, "success", null], [122, "lost_success", null], [136, "success", null], [144, "lost_success", null], [148, "success", null], [155, "lost_success", null], [157, "success", null], [175, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 701, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 40, + "init_config_idx": 33, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [0.33]], [18, "contact", null], [19, "grasped", null], [38, "success", null], [50, "lost_success", null], [51, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [57, "success", null], [62, "lost_success", null], [63, "success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120], "collision", [79.99, 30.55, 18.79, 26.93, 32.38, 35.49, 33.41, 36.8, 40.79, 28.82, 29.63, 17.56, 17.73, 18.7, 0.68, 25.27, 19.33, 25.7, 29.35, 32.01, 12.14, 3.61, 8.79, 17.51, 22.93, 26.51, 23.79, 20.5, 21.06, 24.61, 33.89, 23.67, 17.75, 20.66, 23.84, 18.78, 22.36, 12.78, 7.17, 16.03, 9.2, 4.54, 4.57]], [134, "lost_success", null], [136, "success", null], [[140, 141], "collision", [21.08, 1.25]], [142, "lost_success", null], [143, "success", null], [147, "lost_success", null], [163, "success", null], [[173, 174, 175, 176, 177], "collision", [81.35, 28.32, 52.28, 34.05, 33.55]], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 702, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 33, + "init_config_idx": 45, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [11, "grasped", null], [25, "success", null], [32, "lost_success", null], [33, "success", null], [39, "lost_success", null], [42, "success", null], [79, "lost_success", null], [82, "success", null], [85, "lost_success", null], [111, "success", null], [118, "lost_success", null], [137, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 703, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 17, + "init_config_idx": 9, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18, 19, 22], "collision", [1318.46, 373.51, 353.75, 319.28, 108.08]], [24, "contact", null], [24, "grasped", null], [[33, 34, 35, 36, 37, 38, 40, 41, 42, 43], "collision", [72.44, 75.03, 70.12, 211.79, 197.1, 373.31, 77.98, 47.48, 6.42, 4.35]], [47, "success", null], [48, "lost_success", null], [49, "success", null], [51, "lost_success", null], [52, "success", null], [54, "lost_success", null], [58, "success", null], [63, "lost_success", null], [[63, 64, 66, 67], "collision", [98.01, 125.56, 42.67, 99.08]], [68, "success", null], [[68, 69, 74], "collision", [102.95, 55.95, 4.76]], [78, "lost_success", null], [95, "success", null], [100, "lost_success", null], [117, "success", null], [119, "lost_success", null], [121, "success", null], [129, "lost_success", null], [131, "success", null], [135, "lost_success", null], [136, "success", null], [137, "lost_success", null], [140, "success", null], [147, "lost_success", null], [148, "success", null], [157, "lost_success", null], [179, "success", null], [182, "lost_success", null], [183, "success", null], [187, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 704, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 17, + "init_config_idx": 9, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [20, "grasped", null], [37, "success", null], [42, "lost_success", null], [43, "success", null], [49, "lost_success", null], [54, "success", null], [75, "lost_success", null], [77, "success", null], [89, "lost_success", null], [91, "success", null], [99, "lost_success", null], [106, "success", null], [107, "lost_success", null], [109, "success", null], [[111, 112, 114, 115, 117], "collision", [138.93, 572.12, 258.36, 43.62, 52.82]], [122, "lost_success", null], [130, "success", null], [137, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 705, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 24, + "init_config_idx": 2, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [30, "success", null], [43, "lost_success", null], [51, "success", null], [121, "lost_success", null], [128, "success", null], [129, "lost_success", null], [131, "success", null], [135, "lost_success", null], [136, "success", null], [150, "lost_success", null], [162, "success", null], [168, "lost_success", null], [170, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 706, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 24, + "init_config_idx": 26, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "lost_contact", null], [27, "contact", null], [27, "grasped", null], [75, "success", null], [79, "lost_success", null], [83, "success", null], [135, "lost_success", null], [138, "success", null], [139, "lost_success", null], [140, "success", null], [142, "lost_success", null], [144, "success", null], [145, "lost_success", null], [149, "success", null], [150, "lost_success", null], [154, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 707, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 31, + "init_config_idx": 37, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "lost_contact", null], [17, "contact", null], [20, "grasped", null], [33, "success", null], [42, "lost_success", null], [43, "success", null], [100, "lost_success", null], [105, "success", null], [114, "lost_success", null], [[118, 119, 120, 121, 122, 123], "collision", [45.81, 21.36, 35.7, 26.5, 28.51, 25.69]], [130, "success", null], [132, "lost_success", null], [133, "success", null], [160, "lost_success", null], [161, "success", null], [162, "lost_success", null], [163, "success", null], [172, "lost_success", null], [173, "success", null], [187, "lost_success", null], [188, "success", null], [193, "lost_success", null], [194, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 708, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 42, + "init_config_idx": 5, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [26, "grasped", null], [[29, 30, 31], "collision", [111.6, 2.41, 2.85]], [59, "success", null], [60, "lost_success", null], [61, "success", null], [[66], "collision", [25.38]], [67, "lost_success", null], [[67, 68, 69, 70], "collision", [42.45, 61.51, 49.85, 44.26]], [71, "success", null], [[71, 72, 73, 74, 75, 76], "collision", [19.93, 30.58, 32.89, 13.53, 18.04, 23.88]], [77, "lost_success", null], [[77], "collision", [18.81]], [78, "success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [22.69, 16.45, 16.28, 18.08, 22.25, 27.87, 6.91, 30.68, 27.63, 28.59, 19.49, 13.23]], [90, "lost_success", null], [[90, 91, 92, 94, 96], "collision", [30.72, 24.6, 44.97, 6.29, 42.34]], [98, "success", null], [[98, 101], "collision", [27.65, 4.42]], [103, "lost_success", null], [106, "success", null], [108, "lost_success", null], [109, "success", null], [[109, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [7.17, 32.42, 39.72, 6.18, 31.73, 21.31, 32.27, 37.46, 41.19, 48.64, 23.76, 11.57, 26.35, 44.24, 21.97, 29.49, 26.03, 52.55, 65.77, 73.41, 98.57, 77.67, 98.09, 78.99, 102.57, 66.33, 54.23, 58.93, 68.11, 39.77, 30.52, 43.86, 22.04]], [145, "lost_success", null], [[145, 146, 147], "collision", [44.39, 48.11, 33.07]], [149, "success", null], [[149], "collision", [33.37]], [153, "lost_success", null], [155, "success", null], [156, "lost_success", null], [157, "success", null], [[158, 159, 160, 161], "collision", [167.98, 11.73, 59.29, 56.81]], [162, "lost_success", null], [[162], "collision", [64.48]], [163, "success", null], [[163, 164, 165, 166, 167, 168], "collision", [73.58, 104.31, 104.66, 70.1, 73.47, 87.81]], [169, "lost_success", null], [[169, 170, 171, 172, 173, 174], "collision", [66.75, 46.0, 73.54, 53.22, 41.31, 37.55]], [175, "success", null], [[175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [40.69, 39.91, 42.39, 53.58, 43.64, 63.18, 49.89, 52.56, 43.76, 43.62, 60.12, 69.0, 53.55, 60.26, 27.97, 60.63, 54.17, 58.3, 39.55, 35.63, 33.32, 34.22, 36.15, 51.63, 29.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 709, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 17, + "init_config_idx": 16, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [205.45, 160.04, 104.85]], [13, "contact", null], [15, "grasped", null], [[19, 21, 22, 24, 25, 29, 30], "collision", [934.23, 176.84, 44.9, 310.7, 278.1, 642.78, 87.98]], [31, "success", null], [[32, 33, 34, 35], "collision", [12.13, 31.86, 166.75, 160.26]], [36, "lost_success", null], [[36], "collision", [120.32]], [37, "success", null], [[37, 38], "collision", [24.24, 211.41]], [39, "lost_success", null], [[39], "collision", [166.55]], [40, "success", null], [[40], "collision", [138.49]], [41, "lost_success", null], [[41, 42], "collision", [115.71, 22.41]], [43, "success", null], [[43, 44], "collision", [83.56, 82.67]], [45, "lost_success", null], [46, "success", null], [[47], "collision", [49.1]], [53, "lost_success", null], [64, "success", null], [[68], "collision", [88.18]], [69, "lost_success", null], [[69, 70, 71, 73], "collision", [32.63, 46.83, 48.66, 4.2]], [74, "success", null], [[74], "collision", [18.53]], [75, "lost_success", null], [[75], "collision", [45.09]], [76, "success", null], [[77], "collision", [37.74]], [78, "lost_success", null], [[78, 79, 80, 81, 82], "collision", [54.11, 54.76, 18.51, 35.52, 16.58]], [83, "success", null], [134, "lost_success", null], [140, "success", null], [149, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 710, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 23, + "init_config_idx": 42, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [56, "success", null], [58, "lost_success", null], [182, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 711, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 24, + "init_config_idx": 23, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [0.67]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "collision", [0.86, 0.43, 3.69, 1.73, 1.63, 1.14, 1.38, 1.09, 1.23, 0.87, 0.75, 0.78, 1.21, 1.07, 1.31, 102.12]], [33, "success", null], [[33, 34], "collision", [97.47, 10.77]], [35, "lost_success", null], [[35], "collision", [1.23]], [36, "success", null], [[36, 37, 38], "collision", [1.31, 1.34, 1.26]], [39, "lost_success", null], [[39, 40], "collision", [1.21, 1.3]], [41, "success", null], [[41, 42, 43, 44, 45, 46], "collision", [1.34, 1.33, 1.34, 1.4, 1.38, 1.51]], [47, "lost_success", null], [[47], "collision", [1.42]], [48, "success", null], [[48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [1.54, 1.61, 1.63, 1.46, 1.54, 1.54, 1.31, 1.25, 1.26, 1.25, 1.3, 1.43, 1.34, 1.19, 1.21, 1.08, 1.11, 40.46, 52.57, 66.62, 58.29, 52.48, 42.21, 32.67, 40.12, 24.36, 26.6, 20.44, 30.3, 22.56, 19.55, 25.2, 41.26, 36.44, 49.58, 58.46, 40.73, 49.18, 35.38, 35.45, 36.12, 13.58, 24.1, 20.61, 1.02, 1.23, 13.96, 19.77, 11.11, 12.09, 83.39, 41.7, 75.51, 59.65, 100.38, 103.7, 99.41, 122.91, 55.64, 109.25, 58.48, 83.25, 60.54, 56.55, 61.73, 56.71, 70.42, 52.06, 26.36, 1.19, 1.34, 1.17, 1.21, 1.23, 1.2, 1.15, 1.14, 1.21, 1.12, 1.09, 1.07, 1.0, 0.97, 0.96, 0.98, 1.18, 1.11, 1.14, 1.2, 1.12, 1.12, 1.22, 1.22, 1.25, 1.25, 1.26, 1.29, 1.06, 1.15, 1.17, 1.2, 1.23, 1.17, 1.22, 1.18, 1.2, 1.19, 1.22, 1.38, 1.17, 1.16, 1.14, 1.17, 1.18, 1.18, 1.12, 1.14, 1.16, 1.13, 1.11, 1.08, 1.09, 1.13, 1.17, 1.11, 1.08, 1.09, 1.03, 0.92, 0.9, 0.93, 1.0, 1.02, 1.34, 1.44, 1.35, 1.28, 0.97, 1.24, 1.2, 1.46, 1.12, 1.08, 1.31, 0.98, 172.49]], [194, "lost_success", null], [[194], "collision", [206.2]], [195, "success", null], [[195, 196, 197, 198, 199], "collision", [231.08, 258.88, 249.57, 218.78, 295.25]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 712, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 14, + "init_config_idx": 46, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [16, "grasped", null], [28, "success", null], [29, "lost_success", null], [41, "success", null], [45, "lost_success", null], [48, "success", null], [73, "lost_success", null], [74, "success", null], [89, "lost_success", null], [95, "success", null], [98, "lost_success", null], [123, "success", null], [131, "lost_success", null], [153, "success", null], [157, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 713, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 21, + "init_config_idx": 60, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[26, 27, 28, 29, 30, 31, 32, 33], "collision", [84.76, 95.24, 100.52, 98.15, 106.75, 121.15, 107.65, 90.08]], [38, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [62, "success", null], [[65, 67, 71], "collision", [65.0, 18.48, 10.72]], [75, "lost_success", null], [85, "success", null], [87, "lost_success", null], [89, "success", null], [101, "lost_success", null], [148, "success", null], [153, "lost_success", null], [154, "success", null], [[164], "collision", [448.82]], [172, "lost_success", null], [178, "success", null], [192, "lost_success", null], [193, "success", null], [194, "lost_success", null], [195, "success", null], [196, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 714, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 3, + "init_config_idx": 12, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [49, "success", null], [[52], "collision", [207.02]], [53, "lost_success", null], [54, "success", null], [[57, 58, 59], "collision", [254.49, 101.66, 20.72]], [63, "lost_success", null], [77, "success", null], [78, "lost_success", null], [87, "success", null], [101, "lost_success", null], [120, "success", null], [142, "lost_success", null], [143, "success", null], [156, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null], [162, "success", null], [163, "lost_success", null], [164, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 715, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 49, + "init_config_idx": 0, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 12], "collision", [390.75, 355.09, 232.1, 211.02, 178.29]], [15, "contact", null], [17, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [[23, 24, 25, 27], "collision", [57.34, 13.34, 38.69, 147.66]], [43, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [66, "success", null], [70, "lost_success", null], [75, "success", null], [76, "lost_success", null], [77, "success", null], [82, "lost_success", null], [85, "success", null], [89, "lost_success", null], [92, "success", null], [95, "lost_success", null], [[95], "collision", [42.02]], [96, "success", null], [[96], "collision", [40.15]], [97, "lost_success", null], [[98, 99, 100], "collision", [3.42, 30.38, 23.51]], [101, "success", null], [[101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 116, 117, 118, 119, 120], "collision", [18.62, 23.53, 63.0, 88.35, 70.42, 66.15, 35.86, 26.09, 62.83, 26.04, 37.05, 47.94, 41.32, 42.15, 51.18, 63.23, 59.86, 59.42, 48.95]], [121, "lost_success", null], [[121], "collision", [20.39]], [122, "success", null], [[122], "collision", [30.07]], [123, "lost_success", null], [[125, 126], "collision", [12.51, 49.38]], [127, "success", null], [[127, 128, 129], "collision", [18.87, 34.78, 44.57]], [132, "lost_success", null], [[132], "collision", [141.55]], [133, "success", null], [[143], "collision", [71.98]], [144, "lost_success", null], [[144], "collision", [55.16]], [145, "success", null], [[145, 146], "collision", [36.82, 35.55]], [148, "lost_success", null], [[148], "collision", [25.45]], [149, "success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171], "collision", [10.89, 10.84, 14.01, 8.33, 18.47, 39.47, 42.13, 46.79, 47.98, 31.62, 50.47, 36.23, 34.27, 31.13, 35.86, 39.22, 41.4, 44.86, 50.61, 29.6, 58.63, 51.29, 47.01]], [175, "lost_success", null], [176, "success", null], [192, "lost_success", null], [193, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 716, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 37, + "init_config_idx": 19, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 13], "collision", [503.88, 218.95, 7.08]], [15, "contact", null], [15, "grasped", null], [[17], "collision", [38.41]], [29, "success", null], [31, "lost_success", null], [32, "success", null], [[33, 34], "collision", [1.82, 1.12]], [35, "lost_success", null], [[35], "collision", [1.28]], [37, "success", null], [[38, 41], "collision", [3.26, 5.39]], [42, "lost_success", null], [47, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [54, "lost_success", null], [57, "success", null], [59, "lost_success", null], [60, "success", null], [69, "lost_success", null], [[70, 71], "collision", [349.11, 149.71]], [72, "success", null], [[72, 73, 74], "collision", [300.95, 64.18, 76.61]], [75, "lost_success", null], [[75], "collision", [25.18]], [76, "success", null], [[76, 77], "collision", [53.12, 89.37]], [78, "lost_success", null], [81, "success", null], [85, "lost_success", null], [86, "success", null], [89, "lost_success", null], [92, "success", null], [94, "lost_success", null], [96, "success", null], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [112, "success", null], [119, "lost_success", null], [[119, 120, 121, 122, 123, 124, 125, 126], "collision", [1.33, 1.23, 1.32, 1.35, 1.31, 1.34, 1.11, 1.14]], [141, "success", null], [152, "lost_success", null], [154, "success", null], [167, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 717, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 46, + "init_config_idx": 27, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [271.96]], [12, "contact", null], [13, "grasped", null], [[17, 18], "collision", [139.49, 26.98]], [32, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [[53], "collision", [31.76]], [55, "success", null], [74, "lost_success", null], [75, "success", null], [81, "lost_success", null], [82, "success", null], [96, "lost_success", null], [149, "success", null], [150, "lost_success", null], [188, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 718, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 30, + "task_plan_idx": 10, + "init_config_idx": 10, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "lost_contact", null], [24, "contact", null], [25, "grasped", null], [51, "success", null], [52, "lost_success", null], [54, "success", null], [64, "lost_success", null], [74, "success", null], [77, "lost_success", null], [[78, 79], "collision", [70.6, 80.83]], [80, "success", null], [[80, 81], "collision", [60.23, 49.02]], [82, "lost_success", null], [[82], "collision", [57.54]], [83, "success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92], "collision", [43.67, 15.91, 32.76, 58.87, 40.76, 32.27, 40.45, 55.83, 57.49, 66.35]], [93, "lost_success", null], [[93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 110], "collision", [68.43, 89.61, 99.81, 103.61, 92.85, 99.13, 84.94, 85.91, 87.19, 89.71, 71.63, 70.09, 64.49, 39.71, 50.76, 52.08, 47.9]], [116, "success", null], [124, "lost_success", null], [125, "success", null], [170, "lost_success", null], [173, "success", null], [175, "lost_success", null], [176, "success", null], [[176, 177, 178], "collision", [38.3, 72.01, 73.78]], [179, "lost_success", null], [[179, 180, 181], "collision", [60.36, 33.38, 11.04]], [182, "success", null], [185, "lost_success", null], [186, "success", null], [[186], "collision", [52.37]], [187, "lost_success", null], [[187], "collision", [10.41]], [188, "success", null], [[188, 189, 190, 191, 192, 193, 194, 195, 196], "collision", [5.78, 18.2, 20.93, 28.08, 34.12, 17.82, 57.2, 52.93, 21.98]], [197, "lost_success", null], [198, "success", null], [[198, 199], "collision", [7.7, 8.06]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 719, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 47, + "init_config_idx": 3, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [10, "lost_contact", null], [14, "contact", null], [14, "grasped", null], [29, "success", null], [57, "lost_success", null], [58, "success", null], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [83, "success", null], [99, "lost_success", null], [147, "success", null], [155, "lost_success", null], [165, "success", null], [168, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 720, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 9, + "init_config_idx": 33, + "spawn_selection_idx": 99, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [35, "success", null], [41, "lost_success", null], [42, "success", null], [84, "lost_success", null], [85, "success", null], [87, "lost_success", null], [89, "success", null], [107, "lost_success", null], [131, "success", null], [134, "lost_success", null], [135, "success", null], [149, "lost_success", null], [[150], "collision", [23.8]], [151, "success", null], [[151, 152, 153, 154, 155, 156], "collision", [14.9, 12.97, 10.23, 12.91, 10.84, 14.37]], [157, "lost_success", null], [[157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170], "collision", [21.06, 15.18, 15.37, 14.6, 12.39, 12.14, 12.1, 12.36, 13.47, 11.62, 10.48, 11.05, 11.92, 1.01]], [171, "success", null], [[171], "collision", [10.61]], [172, "lost_success", null], [173, "success", null], [[173], "collision", [13.54]], [174, "lost_success", null], [[174, 175, 176, 177, 178, 179, 180], "collision", [16.48, 13.48, 12.05, 13.23, 12.07, 11.2, 11.1]], [181, "success", null], [[181, 182], "collision", [12.13, 13.69]], [183, "lost_success", null], [[183, 184], "collision", [21.39, 12.87]], [185, "success", null], [[185, 187], "collision", [11.49, 6.81]], [194, "lost_success", null], [195, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 721, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 32, + "init_config_idx": 28, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [55, "success", null], [56, "lost_success", null], [78, "success", null], [85, "lost_success", null], [178, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 722, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 16, + "init_config_idx": 26, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 22], "collision", [9.79, 3923.06]], [23, "contact", null], [23, "grasped", null], [[33, 34, 35, 36], "collision", [69.27, 86.24, 91.0, 88.07]], [43, "success", null], [52, "lost_success", null], [57, "success", null], [60, "lost_success", null], [71, "success", null], [75, "lost_success", null], [85, "success", null], [92, "lost_success", null], [93, "success", null], [94, "lost_success", null], [99, "success", null], [103, "lost_success", null], [107, "success", null], [151, "lost_success", null], [152, "success", null], [169, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 723, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 17, + "init_config_idx": 31, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19], "collision", [1508.55, 460.04]], [20, "contact", null], [23, "grasped", null], [45, "success", null], [54, "lost_success", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [64, "lost_success", null], [65, "success", null], [67, "lost_success", null], [68, "success", null], [71, "lost_success", null], [182, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 724, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 29, + "init_config_idx": 26, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11, 13, 14], "collision", [373.17, 226.93, 1295.85, 590.76]], [15, "contact", null], [16, "grasped", null], [41, "success", null], [42, "lost_success", null], [46, "success", null], [52, "lost_success", null], [54, "success", null], [89, "lost_success", null], [91, "success", null], [95, "lost_success", null], [96, "success", null], [103, "lost_success", null], [105, "success", null], [115, "lost_success", null], [118, "success", null], [124, "lost_success", null], [125, "success", null], [130, "lost_success", null], [131, "success", null], [132, "lost_success", null], [133, "success", null], [134, "lost_success", null], [135, "success", null], [136, "lost_success", null], [137, "success", null], [141, "lost_success", null], [150, "success", null], [179, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 725, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 12, + "init_config_idx": 4, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [1336.06, 229.98]], [12, "contact", null], [12, "grasped", null], [[16, 17], "collision", [511.52, 279.05]], [46, "success", null], [48, "lost_success", null], [55, "success", null], [71, "lost_success", null], [73, "success", null], [81, "lost_success", null], [85, "success", null], [87, "lost_success", null], [89, "success", null], [94, "lost_success", null], [99, "success", null], [140, "lost_success", null], [[192, 193, 194, 195, 196, 197, 198, 199], "collision", [228.22, 234.29, 83.19, 168.82, 111.84, 88.41, 105.92, 97.01]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 726, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 7, + "init_config_idx": 26, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [415.14, 422.42, 59.7]], [13, "contact", null], [14, "grasped", null], [[20, 22], "collision", [138.81, 41.46]], [30, "success", null], [31, "lost_success", null], [32, "success", null], [33, "lost_success", null], [34, "success", null], [35, "lost_success", null], [37, "success", null], [42, "lost_success", null], [43, "success", null], [68, "lost_success", null], [71, "success", null], [80, "lost_success", null], [81, "success", null], [103, "lost_success", null], [110, "success", null], [115, "lost_success", null], [116, "success", null], [117, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 727, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 7, + "init_config_idx": 26, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [374.76, 162.41]], [16, "contact", null], [16, "grasped", null], [[21, 23], "collision", [230.33, 239.08]], [29, "success", null], [33, "lost_success", null], [36, "success", null], [38, "lost_success", null], [39, "success", null], [48, "lost_success", null], [55, "success", null], [85, "lost_success", null], [87, "success", null], [112, "lost_success", null], [113, "success", null], [115, "lost_success", null], [116, "success", null], [118, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 728, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 1, + "init_config_idx": 3, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [49, "success", null], [54, "lost_success", null], [89, "success", null], [94, "lost_success", null], [102, "success", null], [114, "lost_success", null], [146, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [175, "success", null], [177, "lost_success", null], [178, "success", null], [191, "lost_success", null], [192, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 729, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 26, + "init_config_idx": 15, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [348.18, 501.22, 179.11]], [11, "contact", null], [13, "lost_contact", null], [14, "contact", null], [14, "grasped", null], [34, "success", null], [38, "lost_success", null], [43, "success", null], [46, "lost_success", null], [47, "success", null], [85, "lost_success", null], [90, "success", null], [112, "lost_success", null], [[177, 180, 181, 182, 185, 186, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [973.61, 136.33, 101.73, 106.19, 99.47, 63.25, 129.0, 118.16, 88.85, 77.11, 58.35, 80.16, 74.31, 63.2, 69.77, 95.33]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 730, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 30, + "init_config_idx": 34, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [69.97]], [20, "contact", null], [21, "grasped", null], [[30], "collision", [132.37]], [45, "success", null], [46, "lost_success", null], [47, "success", null], [49, "lost_success", null], [50, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [65, "success", null], [73, "lost_success", null], [76, "success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106], "collision", [4.24, 0.57, 14.34, 17.79, 19.82, 20.41, 27.3, 14.33, 18.43, 24.03, 12.19, 10.57, 22.99, 13.07, 9.91, 13.83, 16.81, 19.71, 2.59, 13.19, 7.08, 14.55, 20.22, 15.63, 8.12, 7.59, 14.62, 8.3, 9.06]], [108, "lost_success", null], [112, "success", null], [137, "lost_success", null], [151, "success", null], [165, "lost_success", null], [167, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 731, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 11, + "init_config_idx": 8, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 18], "collision", [1344.56, 912.72]], [19, "contact", null], [19, "grasped", null], [[28, 29, 30, 31, 32], "collision", [705.19, 150.07, 115.14, 80.7, 59.45]], [40, "success", null], [50, "lost_success", null], [62, "success", null], [73, "lost_success", null], [74, "success", null], [79, "lost_success", null], [80, "success", null], [86, "lost_success", null], [93, "success", null], [97, "lost_success", null], [105, "success", null], [107, "lost_success", null], [108, "success", null], [109, "lost_success", null], [120, "success", null], [126, "lost_success", null], [127, "success", null], [134, "lost_success", null], [136, "success", null], [137, "lost_success", null], [139, "success", null], [142, "lost_success", null], [144, "success", null], [[144, 145, 146], "collision", [10.08, 13.27, 13.44]], [147, "lost_success", null], [[150], "collision", [13.99]], [151, "success", null], [[151], "collision", [13.2]], [152, "lost_success", null], [[152], "collision", [14.17]], [153, "success", null], [[153, 154], "collision", [9.64, 15.68]], [155, "lost_success", null], [[155, 156, 157], "collision", [15.08, 14.94, 13.8]], [158, "success", null], [[158, 159, 160, 161, 162, 163], "collision", [9.89, 13.42, 10.72, 13.41, 13.41, 2.21]], [171, "lost_success", null], [174, "success", null], [179, "lost_success", null], [180, "success", null], [182, "lost_success", null], [184, "success", null], [185, "lost_success", null], [187, "success", null], [190, "lost_success", null], [192, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 732, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 23, + "init_config_idx": 39, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [44, "success", null], [53, "lost_success", null], [64, "success", null], [90, "lost_success", null], [91, "success", null], [[91, 93, 94, 95, 96], "collision", [435.6, 261.48, 197.97, 319.24, 308.3]], [97, "lost_success", null], [[97], "collision", [173.55]], [98, "success", null], [[99], "collision", [157.08]], [102, "lost_success", null], [108, "success", null], [121, "lost_success", null], [[135], "collision", [0.32]], [137, "success", null], [140, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 733, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 22, + "init_config_idx": 29, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 20, 24], "collision", [391.71, 167.86, 171.92, 99.33, 172.6]], [25, "contact", null], [25, "grasped", null], [[30, 31], "collision", [338.31, 259.44]], [47, "success", null], [51, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [61, "lost_success", null], [64, "success", null], [77, "lost_success", null], [80, "success", null], [81, "lost_success", null], [82, "success", null], [83, "lost_success", null], [88, "success", null], [90, "lost_success", null], [[90, 91], "collision", [49.03, 129.03]], [92, "success", null], [[92], "collision", [26.09]], [93, "lost_success", null], [[93, 94], "collision", [89.78, 88.51]], [95, "success", null], [[95], "collision", [66.01]], [96, "lost_success", null], [[96], "collision", [10.14]], [102, "success", null], [104, "lost_success", null], [108, "success", null], [111, "lost_success", null], [112, "success", null], [117, "lost_success", null], [118, "success", null], [125, "lost_success", null], [[130, 131, 132], "collision", [145.14, 88.42, 88.73]], [133, "success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163], "collision", [80.54, 74.7, 58.64, 49.9, 33.75, 23.57, 24.15, 29.93, 37.97, 38.3, 35.83, 27.15, 27.3, 26.66, 32.7, 39.57, 23.22, 30.22, 43.69, 50.08, 31.93, 40.68, 32.92, 38.05, 41.01, 40.85, 42.7, 35.94, 37.14, 33.4, 24.99]], [164, "lost_success", null], [165, "success", null], [177, "lost_success", null], [178, "success", null], [179, "lost_success", null], [180, "success", null], [181, "lost_success", null], [185, "success", null], [190, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 734, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 8, + "init_config_idx": 18, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [577.06]], [15, "contact", null], [16, "lost_contact", null], [[16], "collision", [0.11]], [18, "contact", null], [18, "grasped", null], [35, "success", null], [78, "lost_success", null], [79, "success", null], [[81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "collision", [17.56, 20.78, 15.85, 32.25, 16.16, 27.99, 26.86, 31.08, 23.74, 30.96, 50.68, 37.42, 47.12, 56.38, 53.15, 46.26, 50.32, 66.96, 54.39, 10.71, 9.92]], [102, "lost_success", null], [[102], "collision", [47.46]], [103, "success", null], [[103, 104, 105, 107, 108, 109, 110], "collision", [73.69, 33.62, 0.14, 84.06, 36.47, 24.93, 48.36]], [114, "lost_success", null], [[115], "collision", [38.52]], [116, "success", null], [[116, 117, 118, 119], "collision", [51.13, 47.24, 4.22, 14.9]], [120, "lost_success", null], [[120, 121], "collision", [13.36, 52.79]], [122, "success", null], [[125, 126, 127, 128, 129, 131, 132], "collision", [22.35, 6.73, 11.23, 26.05, 25.67, 29.37, 30.15]], [138, "lost_success", null], [142, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 735, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 44, + "init_config_idx": 20, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [39, "success", null], [43, "lost_success", null], [145, "success", null], [149, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 736, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 33, + "init_config_idx": 37, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [9, "grasped", null], [20, "success", null], [25, "lost_success", null], [53, "success", null], [94, "lost_success", null], [95, "success", null], [96, "lost_success", null], [114, "success", null], [115, "lost_success", null], [116, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 737, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 46, + "init_config_idx": 36, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "lost_contact", null], [19, "contact", null], [19, "grasped", null], [39, "success", null], [44, "lost_success", null], [45, "success", null], [47, "lost_success", null], [65, "success", null], [67, "lost_success", null], [71, "success", null], [74, "lost_success", null], [[74, 75], "collision", [194.67, 169.46]], [76, "success", null], [[76, 77, 78, 79], "collision", [111.82, 89.7, 66.49, 46.02]], [109, "lost_success", null], [132, "success", null], [137, "lost_success", null], [142, "success", null], [147, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 738, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 13, + "init_config_idx": 44, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 12], "collision", [264.3, 182.5, 175.9, 163.5, 246.72]], [13, "contact", null], [14, "grasped", null], [[16, 31], "collision", [4.42, 11.32]], [32, "success", null], [[32, 33, 34, 35, 36], "collision", [1.78, 0.33, 1.0, 1.01, 0.85]], [37, "lost_success", null], [[37], "collision", [0.4]], [38, "success", null], [[38, 39, 40, 41], "collision", [0.65, 1.14, 0.98, 8.77]], [42, "lost_success", null], [[42], "collision", [22.35]], [43, "success", null], [[43], "collision", [1.13]], [44, "lost_success", null], [[44, 45], "collision", [1.08, 1.07]], [46, "success", null], [[46, 47, 48, 49], "collision", [0.39, 1.14, 1.01, 0.77]], [50, "lost_success", null], [[50], "collision", [0.06]], [54, "success", null], [64, "lost_success", null], [66, "success", null], [[66], "collision", [0.11]], [67, "lost_success", null], [[67], "collision", [0.97]], [68, "success", null], [[68, 69, 70], "collision", [0.85, 0.16, 0.18]], [71, "lost_success", null], [75, "success", null], [76, "lost_success", null], [78, "success", null], [79, "lost_success", null], [82, "success", null], [[84, 85, 86, 87, 88, 89, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111], "collision", [65.04, 60.43, 60.78, 37.56, 41.38, 46.36, 84.51, 88.64, 129.12, 42.54, 31.24, 21.66, 16.87, 1.22, 44.59, 33.8, 1.16, 42.6, 1.1, 58.68, 49.59, 3.9, 81.27, 90.11, 90.25, 83.55, 101.53]], [112, "lost_success", null], [[112], "collision", [71.9]], [113, "success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121], "collision", [0.95, 0.92, 0.94, 0.51, 0.78, 0.63, 1.02, 1.01, 1.0]], [122, "lost_success", null], [[122, 123, 124], "collision", [0.37, 0.26, 0.34]], [125, "success", null], [126, "lost_success", null], [139, "success", null], [146, "lost_success", null], [152, "success", null], [[175, 176, 177, 178, 179], "collision", [1.12, 1.13, 1.12, 1.15, 0.84]], [189, "lost_success", null], [197, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 739, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 4, + "init_config_idx": 47, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [10, "lost_contact", null], [15, "contact", null], [[16, 17], "collision", [28.64, 17.67]], [19, "grasped", null], [29, "success", null], [51, "lost_success", null], [64, "success", null], [73, "lost_success", null], [79, "success", null], [80, "lost_success", null], [85, "success", null], [89, "lost_success", null], [[94, 95, 96, 97, 98, 102, 103], "collision", [161.19, 100.85, 62.88, 63.21, 45.65, 92.71, 50.19]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 740, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 42, + "init_config_idx": 10, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [33, "success", null], [55, "lost_success", null], [57, "success", null], [58, "lost_success", null], [[61, 63, 64], "collision", [76.5, 184.55, 72.1]], [65, "success", null], [[65, 66, 68, 69, 70, 73, 74, 75, 81, 82, 83, 84, 85, 86, 87, 89, 90, 91, 92, 93, 94, 95, 98, 99, 101, 102], "collision", [73.8, 64.43, 79.36, 102.34, 0.21, 173.25, 224.47, 163.94, 196.47, 64.52, 225.75, 36.57, 22.02, 25.68, 3.15, 38.59, 24.86, 35.15, 10.95, 42.43, 15.19, 76.58, 21.93, 52.07, 2.92, 18.31]], [109, "lost_success", null], [110, "success", null], [111, "lost_success", null], [122, "success", null], [141, "lost_success", null], [153, "success", null], [164, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 741, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 0, + "init_config_idx": 33, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11], "collision", [1844.64, 368.61]], [16, "contact", null], [19, "grasped", null], [[19], "collision", [1.83]], [51, "success", null], [52, "lost_success", null], [53, "success", null], [[60, 61, 62, 63], "collision", [9.83, 9.67, 13.14, 10.26]], [64, "lost_success", null], [[64, 65, 74, 75, 76, 77, 86], "collision", [15.34, 5.71, 40.6, 23.56, 9.54, 20.53, 20.55]], [96, "success", null], [107, "lost_success", null], [112, "success", null], [113, "lost_success", null], [114, "success", null], [116, "lost_success", null], [118, "success", null], [120, "lost_success", null], [121, "success", null], [126, "lost_success", null], [127, "success", null], [140, "lost_success", null], [143, "success", null], [167, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 742, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 27, + "init_config_idx": 22, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [37, "success", null], [40, "lost_success", null], [41, "success", null], [44, "lost_success", null], [46, "success", null], [54, "lost_success", null], [55, "success", null], [69, "lost_success", null], [75, "success", null], [94, "lost_success", null], [116, "success", null], [118, "lost_success", null], [[120, 121, 122], "collision", [27.34, 20.59, 29.72]], [123, "success", null], [[123, 124, 125, 126, 127, 128, 129, 130], "collision", [38.43, 40.33, 41.84, 38.87, 33.83, 6.93, 10.96, 3.49]], [141, "lost_success", null], [142, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [161, "lost_success", null], [164, "success", null], [167, "lost_success", null], [169, "success", null], [172, "lost_success", null], [173, "success", null], [177, "lost_success", null], [190, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 743, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 6, + "init_config_idx": 32, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [[22], "collision", [1.86]], [24, "lost_contact", null], [[24], "collision", [305.65]], [25, "contact", null], [25, "grasped", null], [[25, 26, 27, 28, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [850.89, 70.25, 453.14, 240.3, 72.92, 159.31, 88.34, 81.46, 172.58, 95.27, 101.51, 113.54, 114.91, 110.59, 106.26, 94.17, 92.85, 94.42, 80.28, 72.59]], [55, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [67, "success", null], [[76, 77], "collision", [98.1, 36.72]], [138, "lost_success", null], [143, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 744, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 31, + "init_config_idx": 49, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [204.59, 185.0, 177.08, 153.93]], [18, "contact", null], [19, "lost_contact", null], [20, "contact", null], [[23, 24], "collision", [711.01, 0.01]], [28, "lost_contact", null], [31, "contact", null], [32, "grasped", null], [53, "success", null], [55, "lost_success", null], [58, "success", null], [59, "lost_success", null], [61, "success", null], [65, "lost_success", null], [[65, 66], "collision", [12.1, 32.58]], [67, "success", null], [[67, 68, 70], "collision", [27.65, 16.1, 32.25]], [71, "lost_success", null], [[71], "collision", [14.2]], [72, "success", null], [73, "lost_success", null], [[73], "collision", [29.51]], [74, "success", null], [[74], "collision", [0.03]], [75, "lost_success", null], [[75, 78], "collision", [27.94, 10.84]], [80, "success", null], [91, "lost_success", null], [92, "success", null], [95, "lost_success", null], [96, "success", null], [[102], "collision", [53.34]], [103, "lost_success", null], [[104], "collision", [32.28]], [105, "success", null], [[105, 106, 107, 108, 109, 110, 111, 112, 113], "collision", [60.44, 47.7, 39.86, 44.38, 86.52, 83.75, 104.07, 106.07, 96.49]], [114, "lost_success", null], [[114], "collision", [104.35]], [115, "success", null], [[115, 116, 117, 118, 119, 120, 121], "collision", [135.34, 128.01, 136.84, 126.56, 126.55, 194.67, 125.39]], [122, "lost_success", null], [[122, 123, 124, 125, 126, 127], "collision", [77.0, 47.02, 10.6, 27.13, 38.57, 71.28]], [128, "success", null], [[128, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [41.76, 33.22, 44.96, 39.56, 27.29, 24.93, 25.2, 24.58, 31.89]], [138, "lost_success", null], [[138], "collision", [11.11]], [139, "success", null], [149, "lost_success", null], [150, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [166, "lost_success", null], [174, "success", null], [177, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 745, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 42, + "init_config_idx": 31, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9, 16, 17, 18], "collision", [390.99, 313.18, 182.74, 234.81, 91.95, 393.13, 1010.57, 877.82]], [19, "contact", null], [19, "grasped", null], [34, "success", null], [37, "lost_success", null], [41, "success", null], [45, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [57, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [96, "lost_success", null], [99, "success", null], [120, "lost_success", null], [122, "success", null], [123, "lost_success", null], [124, "success", null], [130, "lost_success", null], [148, "success", null], [186, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 746, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 7, + "init_config_idx": 13, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [26, "success", null], [36, "lost_success", null], [37, "success", null], [38, "lost_success", null], [40, "success", null], [50, "lost_success", null], [52, "success", null], [[58, 65, 66, 67, 68, 69, 70], "collision", [82.85, 56.48, 50.97, 51.77, 75.28, 73.4, 60.3]], [75, "lost_success", null], [79, "success", null], [100, "lost_success", null], [113, "success", null], [116, "lost_success", null], [119, "success", null], [120, "lost_success", null], [181, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 747, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 3, + "init_config_idx": 6, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14, 15, 16], "collision", [372.17, 33.6, 12.98, 18.14]], [19, "contact", null], [[19], "collision", [0.63]], [20, "lost_contact", null], [21, "contact", null], [21, "grasped", null], [45, "success", null], [46, "lost_success", null], [48, "success", null], [51, "lost_success", null], [56, "success", null], [[60, 61], "collision", [9.8, 16.09]], [62, "lost_success", null], [[62], "collision", [26.6]], [63, "success", null], [[63, 64, 65], "collision", [9.41, 27.6, 13.3]], [66, "lost_success", null], [[66, 67, 68, 69, 70], "collision", [23.3, 29.48, 37.35, 28.7, 26.41]], [71, "success", null], [[71, 72, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85], "collision", [7.79, 29.39, 18.49, 24.5, 37.07, 28.36, 12.98, 17.74, 27.04, 45.96, 10.11, 6.19, 7.72, 2.19]], [94, "lost_success", null], [[94, 97], "collision", [5.91, 4.19]], [105, "success", null], [[139], "collision", [12.25]], [140, "lost_success", null], [148, "success", null], [[171, 172, 176, 177, 180], "collision", [20.22, 13.93, 45.84, 53.06, 11.66]], [181, "lost_success", null], [[181], "collision", [6.03]], [182, "success", null], [183, "lost_success", null], [186, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 748, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 41, + "init_config_idx": 14, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "grasped", null], [32, "success", null], [37, "lost_success", null], [39, "success", null], [48, "lost_success", null], [49, "success", null], [53, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [60, "lost_success", null], [61, "success", null], [65, "lost_success", null], [66, "success", null], [71, "lost_success", null], [72, "success", null], [77, "lost_success", null], [78, "success", null], [82, "lost_success", null], [83, "success", null], [104, "lost_success", null], [113, "success", null], [120, "lost_success", null], [121, "success", null], [124, "lost_success", null], [125, "success", null], [128, "lost_success", null], [131, "success", null], [136, "lost_success", null], [142, "success", null], [152, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 749, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 9, + "init_config_idx": 0, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 17, 18, 22, 23], "collision", [452.94, 283.26, 225.57, 782.78, 291.53]], [24, "contact", null], [[24], "collision", [13.75]], [26, "grasped", null], [[26], "collision", [14.57]], [48, "success", null], [56, "lost_success", null], [57, "success", null], [95, "lost_success", null], [100, "success", null], [104, "lost_success", null], [105, "success", null], [109, "lost_success", null], [110, "success", null], [116, "lost_success", null], [145, "success", null], [146, "lost_success", null], [153, "success", null], [154, "lost_success", null], [155, "success", null], [174, "lost_success", null], [197, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 750, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 6, + "init_config_idx": 12, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [270.72, 196.89, 167.85]], [12, "contact", null], [12, "grasped", null], [28, "success", null], [37, "lost_success", null], [38, "success", null], [46, "lost_success", null], [50, "success", null], [[77, 78, 79, 80, 81, 82, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 103, 104, 105, 106, 109, 110, 111, 112, 113, 114, 116, 117, 118, 121, 122, 123], "collision", [0.76, 6.29, 3.39, 10.84, 5.94, 2.99, 10.19, 4.46, 3.28, 3.28, 3.84, 15.59, 11.53, 13.24, 10.38, 17.01, 16.83, 15.1, 6.59, 0.74, 4.48, 18.95, 0.67, 7.65, 10.72, 4.09, 6.67, 1.06, 11.81, 17.67, 10.83, 6.24, 7.45, 10.34]], [124, "lost_success", null], [125, "success", null], [[128, 129, 130, 131, 132, 133, 134], "collision", [5.86, 7.39, 8.9, 10.64, 11.42, 3.97, 12.95]], [135, "lost_success", null], [136, "success", null], [[142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153], "collision", [9.93, 5.9, 16.73, 12.68, 10.97, 18.97, 15.62, 6.1, 5.83, 17.43, 119.37, 6.85]], [154, "lost_success", null], [155, "success", null], [156, "lost_success", null], [[156], "collision", [5.2]], [157, "success", null], [[157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192], "collision", [28.23, 28.64, 33.52, 35.27, 30.87, 17.24, 6.96, 17.36, 20.7, 16.49, 13.73, 11.61, 5.62, 20.03, 21.45, 20.31, 9.97, 14.27, 21.19, 29.84, 36.37, 46.01, 45.47, 33.6, 38.97, 40.86, 42.12, 37.09, 33.79, 39.97, 44.21, 46.76, 53.38, 56.58, 59.67, 57.25]], [193, "lost_success", null], [[193, 195, 196, 197, 198, 199], "collision", [49.16, 51.5, 38.82, 25.41, 19.3, 9.43]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 751, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 1, + "init_config_idx": 10, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [0.7, 0.11, 0.15, 0.1, 0.07, 0.23, 0.13, 0.17, 0.26, 0.25, 0.16, 0.29, 79.73, 91.72, 93.45, 93.97, 95.74, 87.96, 0.29, 0.18, 0.22, 0.34, 0.28]], [46, "success", null], [[46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [0.28, 0.25, 0.24, 0.37, 0.4, 0.39, 0.26, 0.17, 0.37]], [55, "lost_success", null], [[55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [0.23, 0.29, 0.32, 0.14, 0.3, 0.3, 0.13, 152.78, 271.92, 1612.39, 0.16, 0.17, 0.15, 445.26, 75.01]], [70, "success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [0.25, 91.86, 0.12, 6.41, 20.54, 0.13, 0.15, 0.13, 0.15, 0.13, 0.14, 0.13, 0.28, 0.14, 0.13, 0.19, 0.22, 0.07, 0.17, 0.14, 0.21, 0.25]], [92, "lost_success", null], [[92, 93, 94, 95], "collision", [0.15, 0.15, 0.27, 0.14]], [96, "success", null], [[96, 97], "collision", [0.16, 0.23]], [98, "lost_success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108], "collision", [0.19, 0.23, 0.24, 0.22, 0.22, 0.24, 0.29, 0.22, 0.23, 0.18, 0.24]], [109, "success", null], [[109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "collision", [0.19, 0.25, 0.25, 0.33, 0.26, 0.29, 0.27, 0.24, 0.25, 0.24, 0.23, 0.23, 0.23, 0.39, 0.3, 0.23, 0.26, 0.26, 0.26, 0.27, 0.21, 0.25, 0.22, 0.32, 0.25, 0.23, 0.4, 0.27, 0.23, 0.31, 0.24, 0.23, 0.19, 0.21, 0.29, 0.27, 0.27, 0.27, 0.23, 0.26, 0.25, 0.25, 0.24, 0.28, 0.28, 0.28, 0.27, 0.26, 0.23, 0.24]], [159, "lost_success", null], [[159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172], "collision", [0.26, 0.2, 0.22, 0.39, 0.42, 0.38, 0.35, 0.41, 0.26, 0.25, 0.25, 0.22, 0.21, 0.22]], [173, "success", null], [[173, 174, 175, 176, 177], "collision", [0.22, 0.22, 0.22, 0.23, 0.22]], [178, "lost_success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.23, 0.23, 0.4, 0.21, 0.17, 0.22, 0.34, 0.29, 0.29, 0.19, 0.19, 0.18, 0.18, 0.2, 0.2, 0.15, 0.15, 0.18, 0.16, 0.18, 0.17, 0.18]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 752, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 5, + "init_config_idx": 34, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22], "collision", [1142.96]], [23, "contact", null], [23, "grasped", null], [56, "success", null], [66, "lost_success", null], [68, "success", null], [95, "lost_success", null], [96, "success", null], [106, "lost_success", null], [172, "success", null], [176, "lost_success", null], [179, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 753, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 34, + "init_config_idx": 44, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16], "collision", [1789.92, 1351.24]], [17, "contact", null], [17, "grasped", null], [40, "success", null], [41, "lost_success", null], [42, "success", null], [80, "lost_success", null], [82, "success", null], [85, "lost_success", null], [[133, 134, 135, 136, 137, 138, 139, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "collision", [51.91, 69.18, 62.27, 68.66, 71.62, 70.02, 56.98, 39.12, 16.49, 61.37, 61.61, 59.62, 60.54, 60.54, 58.25, 67.24, 65.26, 75.23, 70.12, 70.56, 63.97, 30.28, 42.33, 47.58, 33.07]], [160, "success", null], [161, "lost_success", null], [163, "success", null], [[165], "collision", [22.99]], [172, "lost_success", null], [173, "success", null], [178, "lost_success", null], [183, "success", null], [185, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 754, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 14, + "init_config_idx": 43, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [44, "success", null], [53, "lost_success", null], [67, "success", null], [74, "lost_success", null], [79, "success", null], [93, "lost_success", null], [[158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [98.01, 36.91, 33.23, 32.6, 33.24, 30.73, 33.76, 31.99, 24.07, 25.8, 24.4, 22.21]], [170, "success", null], [[170, 171, 172, 173, 174, 175], "collision", [27.24, 21.72, 24.93, 30.16, 26.6, 27.14]], [189, "lost_success", null], [192, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 755, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 24, + "init_config_idx": 8, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [856.91, 286.76, 212.05]], [15, "contact", null], [15, "grasped", null], [[21], "collision", [601.06]], [29, "success", null], [[30], "collision", [53.02]], [32, "lost_success", null], [33, "success", null], [[34, 35, 36, 37, 38, 39, 40, 41, 42], "collision", [5.0, 3.11, 5.43, 2.92, 0.81, 2.78, 8.57, 8.59, 8.03]], [43, "lost_success", null], [[43], "collision", [6.38]], [44, "success", null], [[44, 45, 46], "collision", [7.86, 7.66, 7.76]], [47, "lost_success", null], [[47], "collision", [7.08]], [48, "success", null], [[48], "collision", [7.58]], [49, "lost_success", null], [[49, 50, 51, 52, 53, 54, 55, 56, 57], "collision", [8.37, 6.81, 8.08, 7.68, 7.74, 7.11, 7.38, 8.0, 7.7]], [58, "success", null], [[58, 59, 60, 61, 62, 63, 64, 65, 66], "collision", [8.68, 6.82, 8.78, 7.87, 7.57, 8.55, 6.9, 7.86, 8.38]], [67, "lost_success", null], [[67], "collision", [7.24]], [68, "success", null], [[68, 69], "collision", [7.4, 8.21]], [70, "lost_success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [8.13, 8.0, 7.33, 7.27, 8.01, 7.89, 7.62, 7.82, 8.1]], [79, "success", null], [[79, 80], "collision", [7.78, 8.38]], [81, "lost_success", null], [[81, 82], "collision", [7.19, 8.19]], [83, "success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111], "collision", [7.91, 7.83, 7.89, 7.36, 7.73, 7.7, 7.58, 7.64, 7.42, 7.75, 8.14, 7.78, 7.97, 7.79, 7.91, 7.43, 7.47, 7.73, 8.04, 8.3, 7.6, 8.22, 7.95, 7.09, 8.04, 7.41, 7.63, 7.79, 7.86]], [112, "lost_success", null], [[112, 113, 114, 115, 116, 117], "collision", [7.28, 7.97, 8.03, 8.49, 7.83, 8.51]], [118, "success", null], [[118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148], "collision", [8.77, 6.54, 7.15, 7.77, 8.19, 8.14, 8.07, 8.12, 7.74, 7.94, 7.93, 8.21, 8.18, 7.87, 8.18, 7.81, 8.15, 7.57, 8.17, 7.6, 8.16, 8.03, 8.14, 8.14, 7.63, 7.73, 7.94, 8.18, 7.99, 7.57, 8.01]], [149, "lost_success", null], [[149], "collision", [7.54]], [150, "success", null], [[150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180], "collision", [7.49, 7.73, 7.69, 8.04, 7.67, 7.7, 7.75, 8.11, 8.1, 8.57, 7.72, 8.05, 8.15, 7.57, 7.85, 7.95, 7.64, 7.71, 8.14, 7.96, 7.84, 7.89, 7.65, 8.04, 7.96, 7.82, 8.16, 7.95, 8.0, 7.77, 8.17]], [181, "lost_success", null], [[181, 182], "collision", [7.81, 8.15]], [183, "success", null], [[183, 184, 185, 186, 187, 188, 189, 190, 191, 192], "collision", [7.81, 7.83, 8.15, 7.59, 7.62, 8.1, 8.14, 8.47, 7.55, 8.14]], [193, "lost_success", null], [[193, 194, 195, 196, 197, 198, 199], "collision", [7.7, 7.81, 7.84, 8.12, 8.05, 8.3, 7.66]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 756, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 47, + "init_config_idx": 26, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 18, 19, 20, 36, 37], "collision", [420.03, 52.94, 12.98, 186.0, 184.82, 166.48]], [39, "contact", null], [41, "lost_contact", null], [42, "contact", null], [44, "grasped", null], [[47, 48, 49, 50, 51, 52], "collision", [440.53, 250.92, 263.15, 248.81, 226.1, 122.61]], [88, "success", null], [89, "lost_success", null], [90, "success", null], [92, "lost_success", null], [93, "success", null], [96, "lost_success", null], [97, "success", null], [100, "lost_success", null], [119, "success", null], [120, "lost_success", null], [121, "success", null], [135, "lost_success", null], [136, "success", null], [144, "lost_success", null], [145, "success", null], [146, "lost_success", null], [147, "success", null], [150, "lost_success", null], [151, "success", null], [158, "lost_success", null], [159, "success", null], [178, "lost_success", null], [180, "success", null], [181, "lost_success", null], [186, "success", null], [191, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 757, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 65, + "init_config_idx": 25, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 16], "collision", [1051.23, 641.95, 495.02, 813.59]], [17, "contact", null], [[17], "collision", [524.18]], [18, "lost_contact", null], [[18, 20], "collision", [266.8, 387.27]], [21, "contact", null], [23, "lost_contact", null], [26, "contact", null], [27, "grasped", null], [49, "success", null], [59, "lost_success", null], [61, "success", null], [65, "lost_success", null], [66, "success", null], [70, "lost_success", null], [73, "success", null], [78, "lost_success", null], [83, "success", null], [84, "lost_success", null], [85, "success", null], [86, "lost_success", null], [95, "success", null], [119, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 758, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 28, + "init_config_idx": 9, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14, 15, 16], "collision", [0.0, 104.18, 129.51, 241.33]], [22, "contact", null], [25, "grasped", null], [60, "success", null], [61, "lost_success", null], [64, "success", null], [[68], "collision", [36.15]], [69, "lost_success", null], [[69], "collision", [70.08]], [70, "success", null], [[70, 71, 72, 73, 74], "collision", [32.91, 34.35, 30.82, 24.97, 15.06]], [86, "lost_success", null], [87, "success", null], [89, "lost_success", null], [91, "success", null], [157, "lost_success", null], [158, "success", null], [163, "lost_success", null], [164, "success", null], [167, "lost_success", null], [168, "success", null], [184, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 759, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 57, + "init_config_idx": 11, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [35, "success", null], [51, "lost_success", null], [167, "success", null], [173, "lost_success", null], [174, "success", null], [176, "lost_success", null], [177, "success", null], [178, "lost_success", null], [179, "success", null], [189, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 760, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 3, + "init_config_idx": 32, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [602.23, 154.08]], [18, "contact", null], [[18], "collision", [3261.47]], [19, "grasped", null], [[19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [0.84, 0.92, 1.48, 0.97, 1.11, 0.86, 1.66, 1.24, 1.17, 1.21, 0.83, 1.21, 0.54, 0.53, 0.76, 0.7, 0.72]], [37, "success", null], [[37, 38, 39, 40, 41], "collision", [1.31, 0.44, 1.31, 0.35, 0.46]], [42, "lost_success", null], [[42, 43, 44, 45], "collision", [0.31, 0.73, 0.37, 0.35]], [46, "success", null], [[46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "collision", [1.46, 0.64, 1.33, 1.36, 0.47, 0.68, 1.28, 0.32, 0.66, 0.99, 0.44, 0.55, 1.14, 0.86, 0.87, 1.05, 0.54]], [63, "lost_success", null], [[63, 64, 65], "collision", [0.56, 1.08, 0.7]], [66, "success", null], [[66, 67, 68, 69, 70], "collision", [0.35, 0.3, 0.9, 0.28, 0.14]], [71, "lost_success", null], [[71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [0.77, 0.28, 1.06, 0.21, 0.3, 0.53, 0.74, 0.56, 0.49, 0.6, 0.62, 0.7, 1.18, 0.69, 1.32, 0.63, 0.61, 0.61, 0.65, 0.62, 0.72, 0.75, 1.46, 0.7, 0.72, 0.66, 0.98, 0.71, 1.51, 0.57, 0.58, 0.55, 0.58, 0.64, 0.73, 0.72, 0.73]], [108, "success", null], [[108, 109, 110, 111, 112, 113], "collision", [0.71, 1.36, 0.61, 0.68, 0.65, 0.74]], [114, "lost_success", null], [[114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124], "collision", [0.79, 0.69, 0.8, 0.9, 0.87, 1.15, 0.9, 0.97, 1.58, 1.0, 1.08]], [125, "success", null], [[125, 126, 127, 128, 129], "collision", [1.18, 1.04, 0.99, 1.09, 1.52]], [130, "lost_success", null], [[130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.9, 0.9, 0.85, 0.95, 0.95, 0.89, 1.46, 0.9, 1.49, 0.58, 0.85, 0.63, 1.33, 0.65, 1.09, 0.6, 0.55, 1.46, 0.92, 0.59, 0.86, 0.65, 0.74, 0.79, 0.84, 1.27, 1.13, 1.0, 1.13, 1.15, 1.19, 0.97, 1.62, 0.9, 0.79, 0.96, 0.87, 1.09, 0.93, 0.83, 1.11, 0.56, 1.15, 1.42, 1.56, 0.87, 0.91, 0.8, 0.91, 0.92, 1.57, 0.94, 0.95, 0.92, 1.49, 0.7, 1.16, 1.16, 0.99, 0.86, 1.1, 1.5, 1.21, 1.0, 0.8, 1.06, 0.76, 0.94, 1.07, 1.44]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 761, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 4, + "init_config_idx": 28, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [17, "grasped", null], [36, "success", null], [67, "lost_success", null], [76, "success", null], [84, "lost_success", null], [85, "success", null], [88, "lost_success", null], [110, "success", null], [112, "lost_success", null], [119, "success", null], [136, "lost_success", null], [140, "success", null], [143, "lost_success", null], [144, "success", null], [153, "lost_success", null], [177, "success", null], [181, "lost_success", null], [182, "success", null], [183, "lost_success", null], [184, "success", null], [197, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 762, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 16, + "init_config_idx": 37, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 13, 14], "collision", [131.1, 1868.17, 343.29, 284.15, 26.91, 23.82]], [19, "contact", null], [19, "grasped", null], [[27, 54, 55, 56, 57], "collision", [74.25, 7.72, 8.21, 7.98, 7.87]], [58, "success", null], [[58, 59, 60, 61, 62], "collision", [8.03, 7.5, 8.37, 8.47, 8.96]], [63, "lost_success", null], [[63, 64], "collision", [7.66, 8.98]], [72, "success", null], [80, "lost_success", null], [88, "success", null], [[88], "collision", [70.66]], [89, "lost_success", null], [92, "success", null], [93, "lost_success", null], [94, "success", null], [118, "lost_success", null], [121, "success", null], [126, "lost_success", null], [144, "success", null], [148, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 763, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 43, + "init_config_idx": 44, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [458.09, 243.86, 212.58, 229.29, 225.48]], [16, "contact", null], [16, "grasped", null], [[22, 23, 24, 25], "collision", [216.87, 375.2, 200.56, 83.0]], [34, "success", null], [41, "lost_success", null], [44, "success", null], [45, "lost_success", null], [47, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [55, "lost_success", null], [57, "success", null], [72, "lost_success", null], [75, "success", null], [81, "lost_success", null], [82, "success", null], [84, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [95, "lost_success", null], [101, "success", null], [104, "lost_success", null], [109, "success", null], [132, "lost_success", null], [138, "success", null], [176, "lost_success", null], [180, "success", null], [190, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 764, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 9, + "init_config_idx": 1, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 11, 12], "collision", [1309.95, 200.22, 247.54, 243.72, 163.45, 249.64]], [16, "contact", null], [16, "grasped", null], [[22, 24], "collision", [98.65, 147.66]], [44, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66], "collision", [36.24, 49.12, 26.04, 12.22, 20.0, 9.49, 18.92, 23.13, 11.49, 26.98]], [67, "lost_success", null], [[67], "collision", [14.41]], [72, "success", null], [87, "lost_success", null], [90, "success", null], [101, "lost_success", null], [105, "success", null], [106, "lost_success", null], [113, "success", null], [121, "lost_success", null], [122, "success", null], [138, "lost_success", null], [147, "success", null], [153, "lost_success", null], [158, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 765, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 3, + "init_config_idx": 34, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [273.95]], [22, "contact", null], [[22, 23], "collision", [163.22, 12.65]], [24, "grasped", null], [[35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49], "collision", [36.68, 49.15, 50.83, 61.97, 60.97, 59.67, 58.97, 65.48, 61.4, 83.08, 93.55, 102.86, 101.6, 102.19, 60.9]], [55, "success", null], [103, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [110, "lost_success", null], [112, "success", null], [113, "lost_success", null], [114, "success", null], [129, "lost_success", null], [131, "success", null], [132, "lost_success", null], [171, "success", null], [173, "lost_success", null], [174, "success", null], [177, "lost_success", null], [189, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 766, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 3, + "init_config_idx": 34, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17], "collision", [254.7, 128.6, 256.83]], [19, "contact", null], [20, "lost_contact", null], [23, "contact", null], [25, "lost_contact", null], [28, "contact", null], [[28], "collision", [0.96]], [34, "grasped", null], [53, "success", null], [61, "lost_success", null], [62, "success", null], [80, "lost_success", null], [87, "success", null], [[93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131], "collision", [63.21, 66.49, 107.57, 138.78, 98.16, 78.46, 76.6, 79.43, 86.18, 71.48, 63.38, 67.12, 39.26, 21.02, 27.17, 11.08, 15.87, 26.96, 31.39, 24.04, 25.52, 17.6, 39.83, 37.32, 30.87, 25.67, 22.38, 21.98, 9.51, 24.33, 22.07, 32.42, 22.68, 31.17, 41.05, 51.93, 20.09, 43.09, 40.37]], [162, "lost_success", null], [163, "success", null], [198, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 767, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 49, + "init_config_idx": 22, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [[24, 25], "collision", [8.65, 14.49]], [26, "grasped", null], [[26, 27, 28, 34, 35, 41, 42, 43, 44, 45, 47, 48], "collision", [11.16, 8.9, 4.02, 0.08, 0.0, 0.0, 0.31, 0.04, 0.01, 0.0, 0.01, 0.0]], [49, "success", null], [[50, 51, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [0.0, 0.0, 0.0, 39.28, 58.09, 34.0, 35.8, 41.65, 48.21, 49.24, 64.84, 58.58, 63.61, 50.34, 66.67, 55.94, 58.55, 59.78, 55.72, 53.25, 79.62, 118.55, 111.8, 67.19, 46.77, 62.81, 63.72, 48.95, 87.31, 85.72, 59.51, 72.6, 91.37, 96.97, 74.06, 62.74, 65.92, 65.18, 53.11, 52.35]], [94, "lost_success", null], [[94], "collision", [19.55]], [95, "success", null], [[95, 96, 97, 98, 99, 100, 108], "collision", [67.2, 77.64, 66.74, 67.85, 40.67, 63.28, 23.27]], [109, "lost_success", null], [112, "success", null], [118, "lost_success", null], [119, "success", null], [124, "lost_success", null], [125, "success", null], [136, "lost_success", null], [138, "success", null], [167, "lost_success", null], [185, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 768, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 20, + "init_config_idx": 30, + "spawn_selection_idx": 99, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 13], "collision", [357.92, 243.8, 159.32, 148.79, 161.06]], [16, "contact", null], [18, "grasped", null], [[24, 25, 26, 27], "collision", [73.23, 85.74, 143.54, 65.21]], [36, "success", null], [41, "lost_success", null], [43, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [65, "lost_success", null], [71, "success", null], [74, "lost_success", null], [79, "success", null], [80, "lost_success", null], [84, "success", null], [96, "lost_success", null], [[98, 99], "collision", [59.73, 49.94]], [100, "success", null], [[100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 124], "collision", [47.42, 57.13, 93.59, 67.52, 61.53, 59.22, 53.99, 48.13, 54.16, 65.98, 71.27, 53.89, 71.07, 60.72, 60.65, 57.0, 50.09, 47.44, 47.55, 48.56, 72.26, 40.53, 37.44]], [125, "lost_success", null], [[126], "collision", [34.87]], [128, "success", null], [140, "lost_success", null], [142, "success", null], [149, "lost_success", null], [155, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [166, "success", null], [168, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 769, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 0, + "init_config_idx": 45, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [26, "grasped", null], [[44], "collision", [46.5]], [45, "success", null], [[46, 47, 48], "collision", [77.48, 59.22, 68.66]], [64, "lost_success", null], [68, "success", null], [73, "lost_success", null], [74, "success", null], [77, "lost_success", null], [80, "success", null], [87, "lost_success", null], [88, "success", null], [91, "lost_success", null], [92, "success", null], [101, "lost_success", null], [107, "success", null], [108, "lost_success", null], [121, "success", null], [123, "lost_success", null], [135, "success", null], [156, "lost_success", null], [162, "success", null], [182, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 770, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 1, + "init_config_idx": 24, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[1, 3, 4, 5, 6, 7, 8, 9], "collision", [370.37, 175.97, 244.14, 236.03, 207.63, 163.98, 173.34, 156.74]], [13, "contact", null], [13, "grasped", null], [41, "success", null], [50, "lost_success", null], [70, "success", null], [82, "lost_success", null], [84, "success", null], [114, "lost_success", null], [129, "success", null], [130, "lost_success", null], [131, "success", null], [162, "lost_success", null], [180, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 771, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 8, + "init_config_idx": 38, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "lost_contact", null], [20, "contact", null], [[20], "collision", [16.77]], [21, "grasped", null], [[21, 22, 23, 24, 25, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50], "collision", [21.52, 17.42, 1.79, 0.06, 0.04, 0.08, 0.06, 0.15, 0.05, 0.08, 0.14, 0.1, 0.11, 0.05, 0.16, 0.06, 0.08, 0.14, 0.06, 0.17, 0.12, 0.08, 0.07, 0.14, 0.18, 0.08, 0.14, 0.17]], [51, "success", null], [[51, 52, 53, 54, 55, 56, 57, 58, 59], "collision", [0.07, 0.17, 0.09, 0.2, 0.18, 0.11, 0.11, 0.14, 0.12]], [60, "lost_success", null], [[60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [0.2, 0.18, 0.06, 0.13, 0.11, 0.14, 0.09, 0.16, 0.07, 0.05, 0.08, 0.18, 0.07, 0.06, 0.08, 0.11, 0.15, 0.08, 0.12, 0.07, 0.08, 0.18, 0.18, 0.15, 0.16, 0.07, 0.11, 0.17, 0.14, 0.17, 0.09, 0.07, 0.17, 0.07, 0.13, 0.12, 0.18]], [97, "success", null], [[97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [0.06, 0.12, 0.09, 0.08, 0.11, 0.09, 0.07, 0.07, 0.07, 0.07, 0.1, 0.16, 0.16, 0.17]], [111, "lost_success", null], [[111, 112], "collision", [0.07, 0.07]], [113, "success", null], [[113, 114, 115, 116], "collision", [0.1, 0.12, 0.11, 0.1]], [117, "lost_success", null], [[117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133], "collision", [0.15, 0.1, 0.07, 0.09, 0.15, 0.08, 0.07, 0.08, 0.08, 0.08, 0.07, 0.14, 0.1, 0.13, 0.07, 0.07, 0.08]], [134, "success", null], [[134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [0.05, 0.13, 0.08, 0.11, 0.06, 0.06, 0.08, 0.11, 0.08, 0.07, 0.07]], [145, "lost_success", null], [[145], "collision", [0.08]], [146, "success", null], [[146, 147, 148, 149, 150, 151, 152, 153, 154], "collision", [0.08, 0.1, 0.07, 0.18, 0.09, 0.1, 0.07, 0.06, 0.07]], [155, "lost_success", null], [[155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.07, 0.08, 0.06, 0.05, 0.06, 0.08, 0.09, 0.09, 0.06, 0.08, 0.08, 0.06, 0.08, 0.19, 0.16, 0.09, 0.16, 0.07, 0.08, 0.06, 0.1, 0.09, 0.06, 0.07, 0.06, 0.11, 0.09, 0.07, 0.07, 0.06, 0.08, 0.07, 0.16, 0.06, 0.11, 0.13, 0.07, 0.16, 0.08, 0.18, 0.08, 0.15, 0.07, 0.14, 0.07]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 772, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 27, + "init_config_idx": 30, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 12, 13], "collision", [167.19, 672.38, 113.15, 179.89, 31.41, 25.45]], [15, "contact", null], [15, "grasped", null], [38, "success", null], [39, "lost_success", null], [41, "success", null], [51, "lost_success", null], [[51], "collision", [27.3]], [52, "success", null], [[52], "collision", [46.74]], [53, "lost_success", null], [[53, 54], "collision", [35.98, 18.57]], [56, "success", null], [[57], "collision", [15.44]], [58, "lost_success", null], [[69], "collision", [220.86]], [77, "success", null], [78, "lost_success", null], [79, "success", null], [84, "lost_success", null], [85, "success", null], [95, "lost_success", null], [96, "success", null], [97, "lost_success", null], [104, "success", null], [122, "lost_success", null], [131, "success", null], [193, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 773, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 18, + "init_config_idx": 7, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [[20], "collision", [259.48]], [21, "grasped", null], [[26], "collision", [26.36]], [39, "success", null], [43, "lost_success", null], [56, "success", null], [70, "lost_success", null], [74, "success", null], [83, "lost_success", null], [86, "success", null], [125, "lost_success", null], [165, "success", null], [177, "lost_success", null], [187, "success", null], [188, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 774, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 30, + "init_config_idx": 2, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5], "collision", [711.58, 263.35, 346.36]], [11, "contact", null], [11, "grasped", null], [[11, 12, 13, 15, 16, 17], "collision", [178.88, 0.84, 1.45, 1.43, 695.96, 1.77]], [32, "success", null], [33, "lost_success", null], [34, "success", null], [40, "lost_success", null], [41, "success", null], [49, "lost_success", null], [54, "success", null], [69, "lost_success", null], [80, "success", null], [81, "lost_success", null], [82, "success", null], [83, "lost_success", null], [85, "success", null], [101, "lost_success", null], [103, "success", null], [104, "lost_success", null], [106, "success", null], [108, "lost_success", null], [110, "success", null], [147, "lost_success", null], [148, "success", null], [164, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 775, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 6, + "init_config_idx": 21, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [[18], "collision", [14.04]], [19, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [2.1, 4.54, 4.02, 3.05, 3.06, 2.85, 2.5, 3.29, 2.48, 2.31, 2.25, 2.47, 2.6, 2.34, 2.3, 2.14, 1.99, 1.92]], [37, "success", null], [[37, 38, 39, 40], "collision", [2.04, 1.97, 1.78, 1.56]], [41, "lost_success", null], [[41, 42, 43], "collision", [1.61, 1.58, 1.46]], [44, "success", null], [[44], "collision", [1.35]], [45, "lost_success", null], [[45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55], "collision", [1.48, 1.3, 1.2, 1.3, 1.25, 1.29, 1.23, 1.24, 1.2, 1.28, 1.34]], [56, "success", null], [[56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71], "collision", [1.46, 1.16, 1.17, 1.44, 1.42, 1.41, 1.58, 1.39, 1.27, 1.38, 1.44, 1.28, 0.95, 1.29, 1.38, 1.49]], [72, "lost_success", null], [[72, 73], "collision", [1.07, 1.24]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86], "collision", [1.25, 1.37, 1.28, 1.16, 1.08, 1.09, 1.03, 1.13, 1.03, 1.15, 1.13, 1.14, 1.0]], [87, "lost_success", null], [[87, 88], "collision", [0.85, 0.74]], [89, "success", null], [[89, 90, 91, 92], "collision", [0.87, 0.67, 0.69, 0.56]], [93, "lost_success", null], [[93], "collision", [0.73]], [94, "success", null], [[94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [0.75, 0.52, 0.6, 0.49, 0.66, 0.53, 0.64, 0.59, 0.7, 0.99, 45.25, 33.43, 44.99, 48.28]], [108, "lost_success", null], [[108, 109, 110, 111], "collision", [46.95, 44.1, 43.26, 41.41]], [112, "success", null], [[112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123], "collision", [40.4, 39.8, 103.72, 21.89, 28.09, 32.37, 33.76, 36.45, 32.58, 38.54, 38.4, 43.24]], [124, "lost_success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [51.41, 15.94, 43.43, 37.1, 40.47, 37.55, 2.22, 51.59, 44.81, 47.18, 43.79, 30.28, 27.6, 30.39, 34.5, 27.9, 21.4, 25.4, 32.84, 30.4, 30.65]], [145, "success", null], [[145], "collision", [27.48]], [146, "lost_success", null], [[146], "collision", [19.68]], [147, "success", null], [[147, 148], "collision", [33.54, 35.22]], [149, "lost_success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "collision", [31.15, 27.27, 29.26, 28.18, 28.18, 30.07, 27.67, 14.0, 2.32, 1.92]], [159, "success", null], [[159, 160, 161, 162, 163, 164, 165], "collision", [114.34, 158.78, 43.85, 28.1, 1.01, 52.93, 0.98]], [166, "lost_success", null], [[166], "collision", [1.03]], [167, "success", null], [[167], "collision", [1.13]], [168, "lost_success", null], [[168, 169, 170, 171, 172, 173, 174, 175], "collision", [1.37, 1.52, 1.36, 1.25, 1.15, 152.24, 1.17, 1.24]], [176, "success", null], [[176, 177, 178, 179, 180, 181, 182], "collision", [2.07, 2.01, 2.25, 2.44, 2.29, 2.49, 2.21]], [183, "lost_success", null], [[183, 184, 185, 186, 187, 188, 189], "collision", [2.26, 2.54, 2.59, 2.48, 2.41, 2.05, 1.7]], [190, "success", null], [[190, 191, 192, 193, 194], "collision", [2.08, 1.79, 2.06, 1.9, 2.03]], [195, "lost_success", null], [[195], "collision", [2.12]], [196, "success", null], [[196], "collision", [2.0]], [197, "lost_success", null], [[197], "collision", [2.23]], [198, "success", null], [[198, 199], "collision", [2.48, 2.05]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 776, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 50, + "init_config_idx": 48, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [27, "success", null], [28, "lost_success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [7.74, 6.15, 6.37, 7.42, 7.98, 6.3, 6.97, 6.88, 6.26, 7.46, 6.16, 6.5, 6.4, 6.88, 6.75, 6.5, 7.29, 7.87, 6.73, 6.73, 6.49, 7.4, 6.53, 6.93, 7.93, 6.78, 5.85, 6.49, 5.31, 6.41, 5.32]], [106, "success", null], [117, "lost_success", null], [[117, 119, 120], "collision", [17.12, 12.35, 9.77]], [121, "success", null], [[121], "collision", [14.76]], [122, "lost_success", null], [[122, 124, 125, 126, 127], "collision", [19.41, 16.95, 6.86, 5.53, 5.21]], [128, "success", null], [[128], "collision", [4.05]], [129, "lost_success", null], [130, "success", null], [[161, 163, 164, 165, 166, 168, 169, 170], "collision", [89.44, 308.57, 208.57, 16.45, 204.18, 70.16, 68.22, 37.22]], [188, "lost_success", null], [195, "success", null], [197, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 777, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 2, + "init_config_idx": 11, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [36, "success", null], [42, "lost_success", null], [43, "success", null], [45, "lost_success", null], [47, "success", null], [59, "lost_success", null], [60, "success", null], [68, "lost_success", null], [69, "success", null], [73, "lost_success", null], [79, "success", null], [82, "lost_success", null], [86, "success", null], [109, "lost_success", null], [110, "success", null], [140, "lost_success", null], [144, "success", null], [147, "lost_success", null], [148, "success", null], [164, "lost_success", null], [165, "success", null], [168, "lost_success", null], [169, "success", null], [174, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 778, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 32, + "init_config_idx": 12, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[8, "contact", null], [9, "grasped", null], [22, "success", null], [39, "lost_success", null], [56, "success", null], [[56, 57, 59, 61, 63, 64, 65, 66, 68, 69, 71, 72, 73, 74, 75, 76], "collision", [112.67, 580.93, 1039.17, 693.08, 755.51, 688.24, 211.41, 156.24, 68.53, 280.55, 43.89, 70.23, 12.94, 62.17, 81.0, 59.16]], [80, "lost_success", null], [86, "success", null], [92, "lost_success", null], [99, "success", null], [111, "lost_success", null], [113, "success", null], [128, "lost_success", null], [145, "success", null], [148, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 779, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 16, + "init_config_idx": 35, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [394.51, 188.52, 109.18, 204.73, 533.43, 122.45, 142.05, 124.02, 126.98, 112.66, 110.96, 93.05, 99.93, 170.24, 167.84, 202.67, 144.13, 202.62, 205.73, 192.14, 212.49, 201.47, 130.13, 245.6, 139.59, 19.54]], [47, "contact", null], [[47], "collision", [92.88]], [50, "grasped", null], [[50, 51, 52], "collision", [9.88, 26.38, 0.09]], [71, "success", null], [83, "lost_success", null], [84, "success", null], [92, "lost_success", null], [94, "success", null], [95, "lost_success", null], [102, "success", null], [124, "lost_success", null], [125, "success", null], [[177, 178, 179], "collision", [0.1, 0.0, 0.09]], [180, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 780, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 50, + "init_config_idx": 29, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [45, "success", null], [48, "lost_success", null], [60, "success", null], [88, "lost_success", null], [89, "success", null], [111, "lost_success", null], [131, "success", null], [134, "lost_success", null], [141, "success", null], [184, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 781, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 41, + "init_config_idx": 6, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 9, 10], "collision", [850.45, 223.81, 60.56]], [17, "contact", null], [19, "grasped", null], [[19, 20, 21, 25, 27], "collision", [4.58, 6.92, 0.99, 70.64, 76.4]], [48, "success", null], [67, "lost_success", null], [68, "success", null], [81, "lost_success", null], [87, "success", null], [96, "lost_success", null], [97, "success", null], [[99, 100, 101, 102, 103], "collision", [41.89, 67.85, 64.09, 64.79, 48.41]], [104, "lost_success", null], [105, "success", null], [[105], "collision", [29.46]], [106, "lost_success", null], [[106], "collision", [18.48]], [107, "success", null], [[107, 108], "collision", [24.52, 30.8]], [109, "lost_success", null], [[109, 112], "collision", [13.04, 32.13]], [113, "success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [52.76, 41.2, 36.43, 39.21, 36.67, 23.2, 12.36, 29.96, 36.25, 18.38, 4.78, 28.47, 20.52, 15.72, 5.36, 33.71, 30.63, 24.01, 10.63, 1.66, 31.32]], [135, "lost_success", null], [[135], "collision", [9.48]], [136, "success", null], [[136, 137, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 180, 181, 182, 183, 184, 185, 188, 189, 190, 191, 192, 194, 195, 197, 198], "collision", [32.78, 23.12, 34.83, 45.61, 71.66, 71.25, 59.45, 47.68, 36.42, 37.63, 21.45, 29.75, 14.53, 46.23, 52.72, 43.06, 51.43, 33.44, 35.32, 20.9, 23.74, 20.27, 21.52, 35.05, 49.76, 49.54, 48.77, 38.21, 32.3, 64.18, 43.56, 22.99, 13.53, 26.0, 18.61, 23.34, 14.73, 13.04, 17.98, 7.74, 1.3, 38.93, 28.43, 20.81, 10.56, 42.51, 11.4, 99.45, 35.42, 26.69, 25.86, 21.5, 20.34, 4.93, 9.86, 53.04]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 782, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 40, + "init_config_idx": 31, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[27], "collision", [61.29]], [36, "success", null], [39, "lost_success", null], [48, "success", null], [60, "lost_success", null], [64, "success", null], [81, "lost_success", null], [[96, 97, 98, 99, 100, 101], "collision", [40.04, 36.67, 33.64, 34.25, 32.04, 26.43]], [102, "success", null], [[102, 103, 104, 105, 106, 107, 108, 109, 110, 111], "collision", [24.12, 21.94, 27.7, 28.64, 33.28, 34.38, 36.08, 21.95, 27.38, 24.75]], [112, "lost_success", null], [[112], "collision", [25.35]], [113, "success", null], [[113, 114, 115, 116, 117, 121, 122, 123], "collision", [27.39, 32.41, 25.48, 27.16, 20.73, 28.08, 31.66, 28.44]], [124, "lost_success", null], [[124], "collision", [138.73]], [125, "success", null], [[125], "collision", [29.44]], [126, "lost_success", null], [[126, 127, 128, 129, 130, 131], "collision", [76.85, 35.28, 28.03, 36.85, 42.48, 14.75]], [133, "success", null], [140, "lost_success", null], [144, "success", null], [157, "lost_success", null], [159, "success", null], [163, "lost_success", null], [166, "success", null], [170, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 783, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 3, + "init_config_idx": 31, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "lost_contact", null], [21, "contact", null], [[21], "collision", [1.66]], [22, "grasped", null], [[22, 23, 24, 28], "collision", [9.76, 1.73, 0.0, 75.74]], [42, "success", null], [48, "lost_success", null], [110, "success", null], [141, "lost_success", null], [147, "success", null], [153, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 784, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 2, + "init_config_idx": 23, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 13, 14, 15], "collision", [558.96, 302.78, 280.57, 226.52, 600.45, 464.37, 517.97]], [16, "contact", null], [16, "grasped", null], [32, "success", null], [35, "lost_success", null], [36, "success", null], [37, "lost_success", null], [39, "success", null], [40, "lost_success", null], [44, "success", null], [58, "lost_success", null], [[61, 62], "collision", [0.09, 0.06]], [63, "success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [0.06, 0.07, 0.05, 0.05, 0.05, 0.05, 0.06, 0.04, 0.04, 0.04, 0.05, 0.04, 0.05, 0.06, 0.07]], [78, "lost_success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [0.07, 0.06, 0.07, 0.06, 0.04, 0.04, 0.06, 0.08, 0.07, 0.05, 0.09, 0.06, 0.08, 0.06, 0.06, 0.07]], [94, "success", null], [[94, 95, 96, 97, 98, 99], "collision", [0.05, 0.05, 0.05, 0.02, 0.02, 0.01]], [107, "lost_success", null], [110, "success", null], [131, "lost_success", null], [137, "success", null], [144, "lost_success", null], [145, "success", null], [152, "lost_success", null], [162, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 785, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 21, + "init_config_idx": 2, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[35, 36, 37, 38], "collision", [47.22, 60.5, 101.65, 64.08]], [44, "success", null], [59, "lost_success", null], [61, "success", null], [105, "lost_success", null], [106, "success", null], [114, "lost_success", null], [117, "success", null], [126, "lost_success", null], [145, "success", null], [178, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 786, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 39, + "init_config_idx": 32, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [37, "success", null], [49, "lost_success", null], [50, "success", null], [56, "lost_success", null], [74, "success", null], [77, "lost_success", null], [78, "success", null], [81, "lost_success", null], [85, "success", null], [86, "lost_success", null], [89, "success", null], [102, "lost_success", null], [133, "success", null], [164, "lost_success", null], [167, "success", null], [169, "lost_success", null], [170, "success", null], [182, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 787, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 29, + "init_config_idx": 23, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[23, 24, 26, 27, 28], "collision", [202.37, 88.2, 17.54, 78.24, 86.86]], [63, "success", null], [81, "lost_success", null], [101, "success", null], [102, "lost_success", null], [110, "success", null], [115, "lost_success", null], [135, "success", null], [139, "lost_success", null], [146, "success", null], [159, "lost_success", null], [160, "success", null], [181, "lost_success", null], [194, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 788, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 22, + "init_config_idx": 15, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [36, "success", null], [45, "lost_success", null], [96, "success", null], [100, "lost_success", null], [101, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [118, "success", null], [126, "lost_success", null], [127, "success", null], [[140], "collision", [81.65]], [146, "lost_success", null], [148, "success", null], [151, "lost_success", null], [182, "success", null], [190, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 789, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 20, + "init_config_idx": 26, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [1021.82]], [19, "contact", null], [19, "grasped", null], [[26, 27], "collision", [108.99, 159.32]], [36, "success", null], [39, "lost_success", null], [40, "success", null], [41, "lost_success", null], [42, "success", null], [47, "lost_success", null], [56, "success", null], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [69, "success", null], [73, "lost_success", null], [74, "success", null], [82, "lost_success", null], [97, "success", null], [142, "lost_success", null], [143, "success", null], [191, "lost_success", null], [194, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 790, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 32, + "init_config_idx": 62, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [723.58]], [13, "contact", null], [16, "grasped", null], [[17, 19, 20, 21], "collision", [0.87, 193.84, 429.47, 169.1]], [30, "success", null], [36, "lost_success", null], [37, "success", null], [41, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [48, "lost_success", null], [52, "success", null], [58, "lost_success", null], [59, "success", null], [65, "lost_success", null], [68, "success", null], [74, "lost_success", null], [79, "success", null], [82, "lost_success", null], [83, "success", null], [84, "lost_success", null], [87, "success", null], [131, "lost_success", null], [132, "success", null], [160, "lost_success", null], [187, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 791, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 35, + "init_config_idx": 28, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "grasped", null], [27, "success", null], [35, "lost_success", null], [36, "success", null], [37, "lost_success", null], [41, "success", null], [124, "lost_success", null], [128, "success", null], [132, "lost_success", null], [148, "success", null], [156, "lost_success", null], [164, "success", null], [184, "lost_success", null], [193, "success", null], [195, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 792, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 46, + "init_config_idx": 10, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [36, "success", null], [38, "lost_success", null], [49, "success", null], [50, "lost_success", null], [52, "success", null], [54, "lost_success", null], [56, "success", null], [57, "lost_success", null], [65, "success", null], [72, "lost_success", null], [117, "success", null], [119, "lost_success", null], [120, "success", null], [123, "lost_success", null], [135, "success", null], [[144], "collision", [37.87]], [154, "lost_success", null], [155, "success", null], [163, "lost_success", null], [164, "success", null], [168, "lost_success", null], [169, "success", null], [[177, 179, 180, 184], "collision", [201.6, 40.45, 67.3, 4.75]], [196, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 793, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 12, + "init_config_idx": 14, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 21, 23, 26, 27, 28, 29], "collision", [91.43, 133.77, 605.17, 643.54, 451.07, 237.34, 187.09]], [31, "contact", null], [[31], "collision", [441.56]], [32, "grasped", null], [55, "success", null], [92, "lost_success", null], [93, "success", null], [100, "lost_success", null], [102, "success", null], [106, "lost_success", null], [112, "success", null], [156, "lost_success", null], [161, "success", null], [189, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 794, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 36, + "init_config_idx": 47, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 9, 11], "collision", [423.9, 701.85, 411.85, 333.64, 172.19, 170.09, 12.72]], [12, "contact", null], [13, "grasped", null], [34, "success", null], [[38, 39, 40, 41, 42, 43, 44], "collision", [0.04, 0.32, 0.33, 0.33, 0.34, 0.32, 0.34]], [45, "lost_success", null], [[45], "collision", [0.33]], [46, "success", null], [[46, 47, 48, 49, 50, 51], "collision", [0.34, 0.34, 0.34, 0.32, 0.28, 0.16]], [52, "lost_success", null], [[52], "collision", [0.08]], [53, "success", null], [[53, 54, 55], "collision", [0.01, 0.01, 0.01]], [60, "lost_success", null], [61, "success", null], [[61], "collision", [23.51]], [62, "lost_success", null], [[62], "collision", [77.06]], [63, "success", null], [[63], "collision", [24.73]], [64, "lost_success", null], [[64], "collision", [104.01]], [65, "success", null], [[65, 66, 67, 68, 71], "collision", [27.95, 52.71, 39.61, 16.32, 82.56]], [74, "lost_success", null], [77, "success", null], [[78, 79, 80, 81], "collision", [46.31, 46.65, 57.97, 42.79]], [82, "lost_success", null], [[82], "collision", [21.68]], [83, "success", null], [[83, 84], "collision", [35.74, 43.72]], [85, "lost_success", null], [[85, 86, 87], "collision", [30.23, 35.78, 47.72]], [88, "success", null], [[88, 89, 90, 91], "collision", [51.39, 43.22, 20.79, 22.77]], [92, "lost_success", null], [[92], "collision", [52.82]], [93, "success", null], [[93], "collision", [29.17]], [94, "lost_success", null], [[94, 95, 96], "collision", [14.95, 9.32, 23.11]], [97, "success", null], [[97, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 112, 113, 114, 115], "collision", [10.42, 6.79, 1.06, 10.95, 14.19, 9.72, 14.51, 20.67, 16.77, 9.2, 18.65, 9.14, 10.53, 28.05, 15.77, 7.14, 19.85]], [116, "lost_success", null], [[116, 117, 118, 119], "collision", [30.86, 10.0, 57.27, 20.88]], [120, "success", null], [[120], "collision", [49.99]], [121, "lost_success", null], [[121, 122, 123, 124], "collision", [50.1, 52.1, 46.49, 53.95]], [129, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 795, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 0, + "init_config_idx": 12, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [1108.06]], [18, "contact", null], [24, "grasped", null], [44, "success", null], [49, "lost_success", null], [52, "success", null], [58, "lost_success", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [64, "lost_success", null], [69, "success", null], [72, "lost_success", null], [73, "success", null], [77, "lost_success", null], [80, "success", null], [[80, 81, 82], "collision", [32.39, 18.83, 43.4]], [89, "lost_success", null], [96, "success", null], [97, "lost_success", null], [98, "success", null], [[98], "collision", [6.39]], [99, "lost_success", null], [100, "success", null], [118, "lost_success", null], [121, "success", null], [125, "lost_success", null], [133, "success", null], [135, "lost_success", null], [138, "success", null], [[138], "collision", [86.18]], [139, "lost_success", null], [[139], "collision", [80.46]], [140, "success", null], [[140, 141], "collision", [34.07, 50.27]], [149, "lost_success", null], [[153], "collision", [79.49]], [154, "success", null], [[154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166], "collision", [41.73, 38.41, 30.59, 56.21, 87.11, 68.09, 69.88, 79.57, 81.18, 77.25, 78.52, 73.08, 70.01]], [167, "lost_success", null], [[167, 168, 169, 170], "collision", [66.68, 63.15, 74.01, 86.18]], [171, "success", null], [[171], "collision", [85.41]], [172, "lost_success", null], [[172, 173, 174, 175, 176, 177, 178, 179, 180, 181], "collision", [64.49, 48.54, 38.66, 46.18, 101.2, 120.84, 117.67, 132.07, 141.49, 107.87]], [186, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 796, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 31, + "init_config_idx": 46, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [12, "grasped", null], [27, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [62, "lost_success", null], [67, "success", null], [72, "lost_success", null], [80, "success", null], [85, "lost_success", null], [102, "success", null], [106, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 797, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 20, + "init_config_idx": 32, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[27, "contact", null], [27, "grasped", null], [51, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [61, "success", null], [62, "lost_success", null], [63, "success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 104, 105, 106, 107, 108, 110, 111, 112], "collision", [73.51, 67.43, 48.53, 28.29, 23.57, 36.77, 34.92, 46.05, 33.8, 20.91, 27.9, 32.94, 41.94, 44.62, 40.23, 32.51, 7.58, 24.56, 4.98, 6.83]], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [154, "success", null], [190, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 798, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 11, + "init_config_idx": 4, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [39, "success", null], [45, "lost_success", null], [65, "success", null], [69, "lost_success", null], [73, "success", null], [[78, 79, 80, 81, 82, 83, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118], "collision", [17.74, 15.34, 30.14, 24.7, 32.5, 24.26, 22.08, 22.54, 22.64, 26.48, 24.75, 25.48, 24.34, 22.54, 22.29, 15.9, 21.13, 22.98, 23.27, 24.86, 22.33, 24.19, 24.09, 23.43, 25.0, 24.35, 24.18, 26.2, 23.39, 24.37, 21.97, 20.76, 21.01, 21.49, 21.0, 20.11, 18.8, 16.95, 18.46, 23.14]], [119, "lost_success", null], [[119, 120, 121, 122, 123, 124], "collision", [22.87, 21.64, 19.87, 21.26, 18.33, 16.19]], [125, "success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [14.32, 14.38, 16.39, 16.03, 19.37, 17.58, 18.99, 17.59, 16.22, 13.99]], [139, "lost_success", null], [142, "success", null], [149, "lost_success", null], [[153], "collision", [28.69]], [154, "success", null], [[154], "collision", [9.56]], [155, "lost_success", null], [[155], "collision", [25.67]], [156, "success", null], [[156], "collision", [28.14]], [157, "lost_success", null], [[157, 158], "collision", [6.62, 15.84]], [162, "success", null], [165, "lost_success", null], [173, "success", null], [177, "lost_success", null], [182, "success", null], [183, "lost_success", null], [195, "success", null], [197, "lost_success", null], [198, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 799, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 33, + "init_config_idx": 34, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "grasped", null], [[22, 23, 24, 25, 26], "collision", [90.83, 103.32, 110.14, 95.55, 86.6]], [27, "success", null], [28, "lost_success", null], [30, "success", null], [31, "lost_success", null], [32, "success", null], [33, "lost_success", null], [[33], "collision", [101.29]], [34, "success", null], [[34, 35, 36, 37, 38, 39], "collision", [113.64, 117.19, 80.84, 132.66, 79.92, 102.9]], [40, "lost_success", null], [[40], "collision", [141.61]], [41, "success", null], [[41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [101.65, 56.76, 62.32, 38.15, 14.71, 8.88, 55.44, 46.64, 44.46, 36.08, 40.89, 38.03, 37.81, 44.1, 39.1, 39.91, 33.97, 28.82, 20.8, 28.54, 18.72, 15.55, 21.63, 21.23, 18.89, 24.2, 27.86, 28.73, 28.36]], [70, "lost_success", null], [[70], "collision", [26.66]], [78, "success", null], [146, "lost_success", null], [147, "success", null], [151, "lost_success", null], [161, "success", null], [162, "lost_success", null], [[194, 196, 198, 199], "collision", [103.65, 41.89, 2.61, 30.66]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 800, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 8, + "init_config_idx": 15, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [54, "success", null], [[67, 69, 70, 71, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85], "collision", [351.66, 224.2, 101.27, 45.33, 20.46, 19.46, 24.4, 20.0, 22.77, 37.07, 34.75, 39.28, 42.57, 53.97, 37.64, 47.79]], [86, "lost_success", null], [[86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [44.62, 24.48, 28.98, 26.55, 28.57, 34.14, 36.83, 28.38, 21.37, 4.51, 7.44]], [103, "success", null], [[104, 105, 106], "collision", [33.48, 49.25, 21.16]], [107, "lost_success", null], [[107, 108], "collision", [9.43, 38.14]], [109, "success", null], [[109, 110, 111, 112, 113, 114, 115, 116], "collision", [38.3, 52.68, 61.03, 44.84, 34.58, 17.92, 13.75, 20.93]], [117, "lost_success", null], [[117, 118], "collision", [27.51, 10.89]], [119, "success", null], [[119, 120, 121, 122, 123, 124, 125, 127, 128], "collision", [9.36, 39.03, 40.29, 42.96, 18.01, 10.34, 25.35, 38.78, 35.64]], [129, "lost_success", null], [[129, 130], "collision", [4.39, 18.11]], [131, "success", null], [[131, 132, 133, 134], "collision", [30.67, 21.53, 26.76, 21.59]], [135, "lost_success", null], [136, "success", null], [[136, 137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [23.52, 19.44, 37.34, 39.96, 23.46, 21.43, 28.06, 36.31, 17.93, 27.7]], [146, "lost_success", null], [[146, 147, 149], "collision", [42.58, 30.47, 14.98]], [150, "success", null], [[151, 152, 153, 154], "collision", [26.25, 49.38, 23.97, 13.11]], [155, "lost_success", null], [[155], "collision", [10.17]], [156, "success", null], [[156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168], "collision", [21.14, 23.91, 29.88, 38.83, 42.14, 46.56, 30.62, 34.0, 35.61, 56.24, 50.59, 62.35, 58.21]], [169, "lost_success", null], [[169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179], "collision", [48.49, 61.0, 52.65, 42.79, 54.0, 46.67, 44.87, 44.44, 36.78, 21.31, 25.07]], [180, "success", null], [[180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [29.39, 25.35, 31.5, 40.69, 29.06, 29.08, 40.78, 37.56, 38.79, 36.26, 60.27, 50.3, 55.88, 50.44, 52.21, 54.19, 62.66, 62.01, 56.48, 59.88]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 801, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 8, + "init_config_idx": 15, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [389.14, 223.8]], [14, "contact", null], [14, "grasped", null], [[17, 18, 19, 20], "collision", [574.93, 361.93, 335.95, 216.65]], [41, "success", null], [43, "lost_success", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [60, "lost_success", null], [69, "success", null], [76, "lost_success", null], [77, "success", null], [108, "lost_success", null], [109, "success", null], [110, "lost_success", null], [111, "success", null], [132, "lost_success", null], [133, "success", null], [135, "lost_success", null], [136, "success", null], [149, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 802, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 66, + "init_config_idx": 1, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [[42, 43, 44, 45], "collision", [14.9, 14.83, 16.25, 13.83]], [46, "success", null], [[46, 47, 48, 49, 50, 51, 52], "collision", [14.49, 9.44, 6.86, 7.39, 8.43, 7.93, 8.72]], [54, "lost_success", null], [[54], "collision", [5.65]], [55, "success", null], [[55], "collision", [5.96]], [56, "lost_success", null], [[56, 57], "collision", [3.75, 6.23]], [58, "success", null], [[58, 59], "collision", [7.59, 6.14]], [60, "lost_success", null], [[60, 72, 73, 74, 75, 76], "collision", [6.86, 35.36, 36.19, 35.7, 36.22, 43.18]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [38.71, 44.94, 44.54, 49.64, 51.32, 49.73, 35.86, 28.84, 12.57, 7.34, 16.2, 18.67, 29.23, 24.28, 18.96, 23.19, 27.36, 28.1]], [95, "lost_success", null], [96, "success", null], [99, "lost_success", null], [100, "success", null], [[100], "collision", [19.39]], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [105, "success", null], [107, "lost_success", null], [117, "success", null], [153, "lost_success", null], [155, "success", null], [157, "lost_success", null], [158, "success", null], [166, "lost_success", null], [167, "success", null], [173, "lost_success", null], [179, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 803, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 10, + "init_config_idx": 6, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[25, 26, 27, 31, 32, 33], "collision", [83.06, 58.07, 70.97, 42.71, 81.66, 75.08]], [35, "success", null], [60, "lost_success", null], [[60], "collision", [557.49]], [61, "success", null], [[62, 64, 66, 67, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 85, 86, 87, 91], "collision", [133.41, 44.69, 25.44, 13.2, 73.54, 69.54, 126.3, 18.82, 55.24, 30.43, 51.15, 39.2, 31.57, 40.95, 63.26, 82.58, 49.5, 5.69, 358.27, 83.38, 59.09, 26.59]], [110, "lost_success", null], [121, "success", null], [123, "lost_success", null], [124, "success", null], [127, "lost_success", null], [133, "success", null], [139, "lost_success", null], [141, "success", null], [146, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 804, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 28, + "task_plan_idx": 6, + "init_config_idx": 29, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [[21, 22], "collision", [5.43, 3.19]], [24, "grasped", null], [[34, 35, 36], "collision", [274.53, 101.45, 54.94]], [43, "success", null], [52, "lost_success", null], [53, "success", null], [56, "lost_success", null], [57, "success", null], [80, "lost_success", null], [83, "success", null], [105, "lost_success", null], [110, "success", null], [[143, 144, 145], "collision", [90.08, 116.06, 18.76]], [146, "lost_success", null], [[146, 147], "collision", [233.39, 100.31]], [148, "success", null], [[148, 149], "collision", [87.22, 156.14]], [150, "lost_success", null], [[150], "collision", [182.71]], [151, "success", null], [[151], "collision", [103.36]], [152, "lost_success", null], [[152], "collision", [163.59]], [153, "success", null], [[153, 154, 155, 156, 157, 158, 159, 160, 161], "collision", [103.09, 113.97, 87.84, 83.6, 86.77, 88.25, 85.49, 72.52, 79.45]], [181, "lost_success", null], [183, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 805, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 46, + "init_config_idx": 25, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [[30, 31, 32, 33, 34, 35], "collision", [196.35, 98.86, 103.44, 98.82, 76.67, 102.3]], [42, "success", null], [90, "lost_success", null], [91, "success", null], [95, "lost_success", null], [113, "success", null], [114, "lost_success", null], [115, "success", null], [117, "lost_success", null], [118, "success", null], [130, "lost_success", null], [131, "success", null], [138, "lost_success", null], [139, "success", null], [164, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 806, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 25, + "init_config_idx": 21, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [34, "success", null], [38, "lost_success", null], [39, "success", null], [[39], "collision", [148.3]], [40, "lost_success", null], [[41], "collision", [157.87]], [42, "success", null], [[42, 43, 44, 45], "collision", [194.31, 170.6, 181.61, 90.39]], [46, "lost_success", null], [49, "success", null], [50, "lost_success", null], [62, "success", null], [68, "lost_success", null], [69, "success", null], [[71], "collision", [46.93]], [72, "lost_success", null], [[72, 73, 74], "collision", [74.57, 38.4, 68.25]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 107, 108], "collision", [97.32, 103.54, 95.49, 115.46, 115.51, 112.65, 106.85, 106.1, 98.55, 151.44, 129.34, 87.05, 95.2, 110.35, 111.08, 87.57, 125.69, 73.33, 105.96, 52.13, 76.28, 31.56, 49.01, 39.35, 86.59, 135.82, 197.87, 123.3, 164.69, 100.81, 104.55, 77.55, 33.95]], [150, "lost_success", null], [151, "success", null], [167, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 807, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 19, + "init_config_idx": 10, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 12, 13, 14], "collision", [373.23, 483.22, 34.34, 11.56]], [19, "contact", null], [19, "grasped", null], [43, "success", null], [50, "lost_success", null], [97, "success", null], [102, "lost_success", null], [103, "success", null], [108, "lost_success", null], [110, "success", null], [115, "lost_success", null], [158, "success", null], [162, "lost_success", null], [168, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 808, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 14, + "init_config_idx": 31, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[25, 26, 27, 28, 29, 30, 31, 32], "collision", [163.56, 135.4, 109.3, 117.1, 116.39, 111.87, 98.78, 80.6]], [37, "success", null], [44, "lost_success", null], [45, "success", null], [49, "lost_success", null], [51, "success", null], [57, "lost_success", null], [60, "success", null], [[60], "collision", [413.03]], [61, "lost_success", null], [[61], "collision", [366.03]], [62, "success", null], [[62, 63, 67, 68, 69, 70, 74], "collision", [118.83, 112.3, 668.45, 243.96, 438.24, 123.19, 147.94]], [82, "lost_success", null], [95, "success", null], [119, "lost_success", null], [120, "success", null], [146, "lost_success", null], [147, "success", null], [154, "lost_success", null], [[154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [10.13, 9.28, 8.59, 9.24, 8.48, 9.36, 9.07, 9.06, 9.24, 9.45, 8.12, 9.04, 9.03, 9.94, 9.01, 9.26]], [170, "success", null], [[170, 171, 172], "collision", [7.91, 8.92, 9.38]], [173, "lost_success", null], [[173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188], "collision", [9.72, 9.88, 9.98, 9.0, 9.84, 11.13, 10.4, 10.16, 10.86, 10.68, 7.76, 8.17, 7.2, 7.53, 7.4, 6.69]], [189, "success", null], [[189], "collision", [6.39]], [194, "lost_success", null], [[196, 197, 198], "collision", [20.72, 7.18, 6.13]], [199, "success", null], [[199], "collision", [6.79]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 809, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 49, + "init_config_idx": 16, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18, 19, 20], "collision", [1041.41, 400.53, 395.31, 322.02, 270.9]], [21, "contact", null], [[21], "collision", [363.49]], [22, "grasped", null], [71, "success", null], [72, "lost_success", null], [75, "success", null], [76, "lost_success", null], [77, "success", null], [79, "lost_success", null], [[79], "collision", [184.85]], [112, "success", null], [113, "lost_success", null], [116, "success", null], [119, "lost_success", null], [120, "success", null], [133, "lost_success", null], [134, "success", null], [136, "lost_success", null], [137, "success", null], [147, "lost_success", null], [148, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [153, "success", null], [156, "lost_success", null], [157, "success", null], [168, "lost_success", null], [[169, 170, 172, 173, 174], "collision", [20.16, 6.29, 0.76, 53.19, 39.14]], [185, "success", null], [186, "lost_success", null], [188, "success", null], [190, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 810, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 25, + "init_config_idx": 31, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[27, "contact", null], [27, "grasped", null], [53, "success", null], [65, "lost_success", null], [86, "success", null], [87, "lost_success", null], [137, "success", null], [169, "lost_success", null], [179, "success", null], [180, "lost_success", null], [182, "success", null], [185, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 811, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 44, + "init_config_idx": 25, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[1, 2, 3, 4, 10, 11], "collision", [368.94, 51.0, 25.39, 120.14, 65.71, 180.4]], [16, "contact", null], [18, "lost_contact", null], [20, "contact", null], [20, "grasped", null], [[24], "collision", [34.45]], [33, "success", null], [37, "lost_success", null], [38, "success", null], [43, "lost_success", null], [44, "success", null], [[48, 49, 50, 52, 55], "collision", [2.91, 10.63, 8.96, 4.84, 2.26]], [58, "lost_success", null], [62, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 90], "collision", [19.66, 17.26, 16.7, 22.9, 38.09, 26.41, 21.98, 22.96, 20.89, 30.5, 31.51, 18.85, 25.65, 15.61, 14.47, 7.17, 4.45, 14.82, 9.87, 10.27, 6.54, 7.38, 11.44]], [93, "lost_success", null], [96, "success", null], [98, "lost_success", null], [99, "success", null], [[100, 101, 102, 103], "collision", [92.72, 63.21, 45.73, 43.21]], [104, "lost_success", null], [[104, 105, 106, 107, 108, 109, 110, 111, 112, 113], "collision", [33.9, 18.81, 15.08, 24.7, 42.33, 49.28, 60.9, 27.81, 36.02, 28.28]], [114, "success", null], [[114, 115, 116, 117, 118, 119, 120, 121, 122, 124, 125, 126], "collision", [34.2, 31.16, 28.5, 18.31, 22.78, 30.89, 25.74, 18.27, 25.0, 20.29, 25.27, 17.95]], [138, "lost_success", null], [142, "success", null], [145, "lost_success", null], [146, "success", null], [167, "lost_success", null], [168, "success", null], [187, "lost_success", null], [188, "success", null], [191, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 812, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 19, + "init_config_idx": 39, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [593.3, 251.84]], [14, "contact", null], [19, "grasped", null], [32, "success", null], [[42, 43, 44], "collision", [0.09, 0.1, 0.03]], [45, "lost_success", null], [[45, 46, 47], "collision", [0.06, 0.04, 0.03]], [48, "success", null], [[48, 49, 50, 51], "collision", [0.05, 0.05, 0.09, 0.05]], [52, "lost_success", null], [60, "success", null], [64, "lost_success", null], [65, "success", null], [75, "lost_success", null], [79, "success", null], [101, "lost_success", null], [102, "success", null], [145, "lost_success", null], [146, "success", null], [[152], "collision", [0.01]], [153, "lost_success", null], [[153, 154], "collision", [0.01, 0.01]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 813, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 35, + "init_config_idx": 4, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [10.63, 83.62, 66.14, 34.17]], [16, "contact", null], [[16], "collision", [10.6]], [17, "grasped", null], [[17, 18, 19, 20, 21], "collision", [9.19, 3.91, 4.61, 4.54, 3.8]], [34, "success", null], [37, "lost_success", null], [38, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [61, "lost_success", null], [63, "success", null], [84, "lost_success", null], [85, "success", null], [89, "lost_success", null], [90, "success", null], [93, "lost_success", null], [115, "success", null], [134, "lost_success", null], [140, "success", null], [159, "lost_success", null], [160, "success", null], [164, "lost_success", null], [180, "success", null], [182, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 814, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 30, + "init_config_idx": 12, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 9, 10], "collision", [219.97, 181.67, 241.05, 187.06, 216.85, 70.47, 316.77]], [12, "contact", null], [13, "lost_contact", null], [16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [18, "grasped", null], [[23], "collision", [71.24]], [42, "success", null], [46, "lost_success", null], [[47, 48, 49, 50, 51, 52], "collision", [24.85, 17.02, 21.92, 16.47, 20.92, 26.14]], [53, "success", null], [[53, 54, 55, 56, 57, 58], "collision", [34.72, 27.43, 24.34, 21.11, 14.65, 19.18]], [59, "lost_success", null], [[59], "collision", [20.55]], [60, "success", null], [[60], "collision", [23.83]], [61, "lost_success", null], [[61, 62, 63, 64, 66], "collision", [34.46, 17.25, 25.49, 17.78, 28.58]], [72, "success", null], [74, "lost_success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86], "collision", [54.89, 111.18, 122.07, 229.93, 226.82, 106.51, 90.16, 87.29, 89.21, 81.66, 71.43, 69.3]], [87, "success", null], [[87, 88, 89, 90, 91], "collision", [69.07, 71.66, 72.79, 73.74, 71.45]], [92, "lost_success", null], [[92, 93, 94, 95, 96, 97, 98, 99, 100, 102, 103], "collision", [72.0, 73.68, 57.96, 48.87, 58.53, 33.62, 33.74, 37.54, 36.11, 40.62, 18.8]], [104, "success", null], [108, "lost_success", null], [[108], "collision", [128.31]], [109, "success", null], [[109, 110], "collision", [119.79, 147.55]], [115, "lost_success", null], [132, "success", null], [135, "lost_success", null], [138, "success", null], [151, "lost_success", null], [153, "success", null], [179, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 815, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 12, + "init_config_idx": 4, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [890.61]], [19, "contact", null], [21, "grasped", null], [44, "success", null], [45, "lost_success", null], [48, "success", null], [51, "lost_success", null], [53, "success", null], [54, "lost_success", null], [57, "success", null], [67, "lost_success", null], [77, "success", null], [82, "lost_success", null], [102, "success", null], [103, "lost_success", null], [111, "success", null], [126, "lost_success", null], [127, "success", null], [130, "lost_success", null], [131, "success", null], [145, "lost_success", null], [146, "success", null], [174, "lost_success", null], [175, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null], [197, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 816, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 15, + "init_config_idx": 6, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8], "collision", [376.24, 270.3, 247.2, 230.62]], [12, "contact", null], [14, "grasped", null], [[17, 18, 19, 20], "collision", [264.04, 305.31, 316.03, 214.91]], [36, "success", null], [37, "lost_success", null], [38, "success", null], [47, "lost_success", null], [[47], "collision", [174.28]], [48, "success", null], [[48, 49, 50], "collision", [202.24, 190.87, 52.88]], [54, "lost_success", null], [65, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [85, "success", null], [91, "lost_success", null], [93, "success", null], [104, "lost_success", null], [107, "success", null], [121, "lost_success", null], [127, "success", null], [128, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 817, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 29, + "init_config_idx": 32, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "lost_contact", null], [28, "contact", null], [28, "grasped", null], [[40, 41, 42, 43], "collision", [77.35, 95.39, 36.25, 64.6]], [54, "success", null], [62, "lost_success", null], [63, "success", null], [[86, 87, 88, 89, 90, 91, 93, 94, 116], "collision", [40.46, 12.68, 4.93, 61.14, 57.44, 31.55, 53.74, 40.45, 12.64]], [165, "lost_success", null], [173, "success", null], [177, "lost_success", null], [180, "success", null], [189, "lost_success", null], [190, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 818, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 17, + "init_config_idx": 11, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[26, "contact", null], [26, "grasped", null], [49, "success", null], [58, "lost_success", null], [75, "success", null], [104, "lost_success", null], [109, "success", null], [113, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 819, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 31, + "init_config_idx": 23, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [30, "success", null], [32, "lost_success", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [[46], "collision", [18.21]], [47, "lost_success", null], [[47], "collision", [29.8]], [48, "success", null], [[62, 63], "collision", [19.72, 23.48]], [64, "lost_success", null], [[64, 65], "collision", [10.76, 7.45]], [71, "success", null], [74, "lost_success", null], [76, "success", null], [87, "lost_success", null], [88, "success", null], [89, "lost_success", null], [90, "success", null], [94, "lost_success", null], [95, "success", null], [99, "lost_success", null], [105, "success", null], [115, "lost_success", null], [117, "success", null], [146, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 820, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 41, + "init_config_idx": 28, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15], "collision", [235.63, 73.24, 17.17, 21.96]], [19, "contact", null], [19, "grasped", null], [40, "success", null], [42, "lost_success", null], [45, "success", null], [48, "lost_success", null], [49, "success", null], [52, "lost_success", null], [53, "success", null], [60, "lost_success", null], [61, "success", null], [67, "lost_success", null], [70, "success", null], [107, "lost_success", null], [109, "success", null], [132, "lost_success", null], [[136, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [22.97, 16.87, 11.61, 9.89, 13.34, 3.87, 13.4, 11.17, 6.42]], [156, "success", null], [[180, 181], "collision", [99.09, 8.73]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 821, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 18, + "init_config_idx": 13, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[35, 36, 37], "collision", [80.68, 96.0, 92.47]], [45, "success", null], [55, "lost_success", null], [64, "success", null], [99, "lost_success", null], [147, "success", null], [149, "lost_success", null], [165, "success", null], [168, "lost_success", null], [173, "success", null], [174, "lost_success", null], [176, "success", null], [[176], "collision", [37.44]], [177, "lost_success", null], [[177, 178, 179, 180, 181], "collision", [54.44, 16.73, 16.26, 14.5, 10.82]], [182, "success", null], [[182, 183, 184], "collision", [9.75, 231.5, 79.95]], [185, "lost_success", null], [186, "success", null], [[190, 191, 192, 193, 194], "collision", [188.67, 253.86, 233.87, 162.76, 58.07]], [198, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 822, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 19, + "init_config_idx": 40, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [23, "lost_contact", null], [28, "contact", null], [29, "grasped", null], [48, "success", null], [49, "lost_success", null], [61, "success", null], [97, "lost_success", null], [[152], "collision", [8.57]], [153, "success", null], [[153], "collision", [12.38]], [154, "lost_success", null], [[154], "collision", [10.31]], [155, "success", null], [[155, 156, 157, 158, 159, 160, 161, 162, 163, 167], "collision", [11.98, 10.74, 12.23, 6.41, 5.04, 13.28, 14.03, 1.98, 14.5, 13.08]], [168, "lost_success", null], [[168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189], "collision", [12.83, 14.54, 12.7, 14.35, 16.61, 17.11, 15.45, 16.41, 15.86, 13.87, 12.55, 12.05, 12.98, 11.23, 11.48, 10.63, 11.14, 13.14, 14.8, 12.21, 10.05, 7.44]], [190, "success", null], [[190], "collision", [6.6]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 823, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 36, + "init_config_idx": 24, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [156, "success", null], [173, "lost_success", null], [183, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 824, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 63, + "init_config_idx": 52, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [36, "success", null], [44, "lost_success", null], [46, "success", null], [48, "lost_success", null], [50, "success", null], [[64, 65, 66], "collision", [160.23, 67.73, 26.8]], [69, "lost_success", null], [73, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81, 105, 106, 107, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119], "collision", [68.85, 96.39, 171.52, 89.5, 106.12, 84.57, 147.21, 49.28, 120.45, 74.42, 81.06, 89.65, 48.8, 79.7, 73.57, 88.84, 63.8, 44.57, 22.58, 50.17, 23.05, 22.82]], [128, "lost_success", null], [141, "success", null], [142, "lost_success", null], [152, "success", null], [160, "lost_success", null], [170, "success", null], [183, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 825, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 5, + "init_config_idx": 18, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [25, "grasped", null], [48, "success", null], [60, "lost_success", null], [63, "success", null], [64, "lost_success", null], [[64], "collision", [297.14]], [65, "success", null], [66, "lost_success", null], [[66], "collision", [219.03]], [67, "success", null], [[67, 68, 69, 70, 71, 72, 73, 77, 79], "collision", [170.27, 79.66, 71.78, 53.52, 59.89, 13.16, 27.3, 14.83, 43.29]], [133, "lost_success", null], [134, "success", null], [136, "lost_success", null], [137, "success", null], [139, "lost_success", null], [140, "success", null], [[142, 144, 145, 146], "collision", [85.85, 52.89, 85.44, 51.22]], [147, "lost_success", null], [[147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 173, 174, 175, 176, 177, 179, 180, 194, 195], "collision", [55.34, 34.29, 96.73, 108.57, 124.52, 97.47, 54.66, 44.69, 47.36, 85.09, 76.74, 31.23, 371.91, 54.31, 77.56, 17.9, 70.62, 53.54, 28.91, 47.42, 59.23, 55.61, 76.78, 48.76, 21.65, 18.31, 28.86, 25.28, 17.26, 7.96, 6.62, 140.44, 26.25]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 826, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 2, + "init_config_idx": 5, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 14, 15, 17], "collision", [2264.05, 227.74, 193.63, 46.77]], [19, "contact", null], [20, "grasped", null], [[22, 25, 35], "collision", [59.85, 214.01, 49.55]], [38, "success", null], [42, "lost_success", null], [65, "success", null], [81, "lost_success", null], [82, "success", null], [98, "lost_success", null], [119, "success", null], [136, "lost_success", null], [140, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 827, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 44, + "init_config_idx": 38, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [13, "grasped", null], [26, "success", null], [32, "lost_success", null], [34, "success", null], [41, "lost_success", null], [43, "success", null], [70, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [76, "lost_success", null], [[76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 138], "collision", [69.38, 71.81, 69.19, 68.71, 53.16, 57.62, 49.37, 64.21, 65.31, 85.45, 87.49, 79.92, 76.14, 74.66, 81.97, 87.06, 78.38, 77.74, 64.71, 85.25, 88.14, 69.37, 86.12, 53.13, 92.83, 78.11, 68.46, 71.16, 56.96, 79.38, 71.53, 78.51, 634.7]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 828, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 44, + "task_plan_idx": 54, + "init_config_idx": 29, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [39, "success", null], [50, "lost_success", null], [57, "success", null], [65, "lost_success", null], [69, "success", null], [72, "lost_success", null], [74, "success", null], [90, "lost_success", null], [94, "success", null], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [195, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 829, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 28, + "init_config_idx": 6, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[19, 20], "collision", [22.12, 3.51]], [32, "success", null], [40, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [[49], "collision", [4.86]], [52, "lost_success", null], [[53, 54, 55, 56], "collision", [15.52, 11.34, 20.13, 10.96]], [68, "success", null], [72, "lost_success", null], [[72], "collision", [75.88]], [73, "success", null], [[73, 74, 75, 76, 77, 78], "collision", [60.48, 56.28, 60.84, 55.74, 64.68, 76.18]], [79, "lost_success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 95], "collision", [72.69, 83.37, 76.83, 94.14, 104.18, 99.29, 84.95, 56.96, 75.16, 75.33, 78.5, 69.25, 70.18, 54.23, 11.31]], [99, "success", null], [103, "lost_success", null], [113, "success", null], [136, "lost_success", null], [137, "success", null], [185, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 830, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 2, + "init_config_idx": 47, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [193.84, 255.69]], [12, "contact", null], [13, "grasped", null], [25, "success", null], [43, "lost_success", null], [46, "success", null], [78, "lost_success", null], [107, "success", null], [113, "lost_success", null], [114, "success", null], [119, "lost_success", null], [121, "success", null], [134, "lost_success", null], [[183], "collision", [30.51]], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 831, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 30, + "init_config_idx": 53, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [24, "success", null], [27, "lost_success", null], [41, "success", null], [75, "lost_success", null], [95, "success", null], [97, "lost_success", null], [121, "success", null], [150, "lost_success", null], [152, "success", null], [177, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 832, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 48, + "init_config_idx": 23, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [571.66, 547.88, 503.39]], [23, "contact", null], [[25, 26], "collision", [5.56, 10.48]], [28, "grasped", null], [[29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58], "collision", [6.93, 3.53, 0.62, 0.62, 0.34, 0.19, 0.16, 0.18, 0.29, 0.28, 0.2, 0.36, 0.28, 0.29, 0.39, 0.28, 0.15, 0.14, 0.39, 0.44, 0.2, 0.52, 0.14, 0.15, 0.21, 0.22, 0.15, 0.14, 0.45, 0.16]], [59, "success", null], [[59, 60, 61, 62, 63, 64, 65, 66], "collision", [0.17, 0.41, 0.14, 0.14, 0.28, 0.27, 0.18, 0.49]], [67, "lost_success", null], [[67, 68, 69, 70, 71], "collision", [0.48, 0.15, 0.17, 0.47, 0.15]], [72, "success", null], [[72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [0.16, 0.14, 0.4, 0.2, 0.13, 0.13, 0.13, 0.14, 0.14, 0.13, 0.24, 0.25, 0.14, 0.41, 0.35, 0.44]], [88, "lost_success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102], "collision", [0.14, 0.43, 0.16, 0.47, 0.42, 0.19, 0.21, 0.16, 0.5, 0.15, 0.15, 0.51, 0.15, 0.52, 0.44]], [103, "success", null], [[103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [0.5, 0.18, 0.15, 0.46, 0.15, 0.45, 0.14, 0.16, 0.48, 0.23, 0.53, 0.55]], [115, "lost_success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125], "collision", [0.14, 0.52, 0.18, 0.16, 0.16, 0.15, 0.5, 0.57, 0.47, 0.56, 0.15]], [126, "success", null], [[126, 127], "collision", [0.27, 0.31]], [128, "lost_success", null], [[128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141], "collision", [0.24, 0.27, 0.52, 0.52, 0.18, 0.41, 0.14, 0.49, 0.14, 0.12, 0.41, 0.23, 0.17, 0.19]], [142, "success", null], [[142, 143], "collision", [0.18, 0.12]], [144, "lost_success", null], [[144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.13, 0.14, 0.15, 0.3, 0.34, 0.08, 0.08, 0.33, 0.13, 0.37, 0.37, 0.16, 0.27, 0.38, 0.26, 0.15, 0.25, 0.26, 0.18, 0.15, 0.5, 0.36, 0.31, 0.48, 0.48, 0.22, 0.42, 0.41, 0.16, 0.3, 0.16, 0.21, 0.2, 0.16, 0.21, 0.19, 0.15, 0.34, 0.13, 0.19, 0.49, 0.38, 0.3, 0.18, 0.42, 0.23, 0.15, 0.23, 0.14, 0.15, 0.34, 0.24, 0.27, 0.21, 0.17, 0.15]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 833, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 26, + "init_config_idx": 19, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18], "collision", [293.15, 634.4]], [23, "contact", null], [[23], "collision", [8.82]], [24, "grasped", null], [[24, 44, 45], "collision", [0.15, 4.57, 33.66]], [46, "success", null], [[46, 47], "collision", [46.83, 45.16]], [48, "lost_success", null], [[48], "collision", [21.95]], [49, "success", null], [[49, 50, 51, 53, 54], "collision", [14.42, 34.26, 19.69, 30.52, 30.98]], [55, "lost_success", null], [[56], "collision", [41.36]], [57, "success", null], [[57], "collision", [60.87]], [58, "lost_success", null], [59, "success", null], [[60], "collision", [8.0]], [61, "lost_success", null], [[63], "collision", [74.18]], [64, "success", null], [[64, 65], "collision", [6.06, 63.23]], [66, "lost_success", null], [[66], "collision", [71.3]], [67, "success", null], [[67, 68, 69, 70], "collision", [107.28, 64.28, 56.79, 90.78]], [71, "lost_success", null], [[71, 72, 73, 74, 75, 76], "collision", [98.01, 88.07, 62.43, 21.23, 28.49, 29.82]], [77, "success", null], [[80, 81, 82], "collision", [18.63, 5.77, 25.51]], [85, "lost_success", null], [[90, 91, 92, 94, 95, 96, 97, 98, 99], "collision", [9.27, 30.53, 19.56, 41.74, 42.33, 8.74, 88.66, 41.79, 121.17]], [110, "success", null], [113, "lost_success", null], [114, "success", null], [132, "lost_success", null], [133, "success", null], [135, "lost_success", null], [147, "success", null], [179, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 834, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 47, + "task_plan_idx": 32, + "init_config_idx": 38, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [26, "grasped", null], [[42], "collision", [96.33]], [53, "success", null], [106, "lost_success", null], [120, "success", null], [121, "lost_success", null], [129, "success", null], [133, "lost_success", null], [155, "success", null], [158, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 835, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 49, + "init_config_idx": 39, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 14, 15, 16, 17], "collision", [358.52, 371.0, 363.56, 165.27, 144.72, 237.35, 157.82, 194.66]], [18, "contact", null], [19, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44], "collision", [8.51, 4.47, 4.49, 4.22, 4.24, 4.24, 4.18, 4.2, 4.18, 4.27, 4.01, 3.99, 4.04, 3.93, 4.13, 4.14, 4.14, 4.14, 4.23, 4.17, 4.21, 4.21, 4.2, 4.19, 4.17, 4.15]], [45, "success", null], [[45, 46, 47, 48], "collision", [4.13, 4.16, 4.17, 4.14]], [49, "lost_success", null], [[49, 50, 51, 52, 53, 54, 55, 56], "collision", [4.17, 4.19, 4.2, 4.21, 4.23, 4.24, 4.25, 4.21]], [57, "success", null], [[57], "collision", [4.22]], [58, "lost_success", null], [[58], "collision", [4.22]], [59, "success", null], [[59, 60, 61, 62, 63, 64, 65, 66], "collision", [4.25, 4.23, 4.26, 4.25, 4.26, 4.25, 4.24, 4.25]], [67, "lost_success", null], [[67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [4.23, 4.24, 4.23, 4.22, 4.23, 4.21, 4.22, 4.18, 4.27, 4.23, 4.22, 4.24, 4.26, 4.27, 4.26, 4.28, 4.26, 4.25, 4.23, 4.2, 4.22, 4.19, 4.2, 4.19, 4.21, 4.2, 4.2, 4.18, 4.23, 4.2]], [97, "success", null], [[97], "collision", [4.2]], [98, "lost_success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112], "collision", [4.21, 4.21, 4.24, 4.22, 4.21, 4.19, 4.17, 4.23, 4.25, 4.28, 4.18, 4.24, 4.26, 4.27, 4.05]], [113, "success", null], [[113, 114], "collision", [3.94, 4.11]], [115, "lost_success", null], [[115, 116, 117, 118], "collision", [4.34, 4.22, 4.14, 4.16]], [119, "success", null], [[119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [4.3, 4.2, 4.32, 4.27, 4.21, 4.16, 4.11, 4.32, 4.22, 4.12, 4.18, 4.17, 4.26, 4.26, 4.23, 4.21]], [135, "lost_success", null], [[135, 136, 137, 138, 139, 140], "collision", [4.3, 4.16, 4.21, 4.24, 4.19, 4.09]], [141, "success", null], [[141, 142], "collision", [4.07, 4.14]], [143, "lost_success", null], [[143], "collision", [4.16]], [144, "success", null], [[144], "collision", [4.18]], [145, "lost_success", null], [[145, 146, 147], "collision", [4.28, 4.2, 4.2]], [148, "success", null], [[148, 149, 150, 151, 152], "collision", [4.26, 4.1, 4.16, 4.13, 4.06]], [153, "lost_success", null], [[153], "collision", [4.15]], [154, "success", null], [[154], "collision", [4.18]], [155, "lost_success", null], [[155, 156, 157], "collision", [4.06, 4.13, 4.12]], [158, "success", null], [[158, 159, 160, 161, 162, 163, 164, 165, 166], "collision", [4.25, 4.27, 4.2, 4.11, 4.21, 4.15, 4.21, 4.32, 4.18]], [167, "lost_success", null], [[167, 168, 169, 170], "collision", [4.15, 4.22, 4.13, 4.18]], [171, "success", null], [[171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189], "collision", [4.24, 4.16, 4.08, 4.19, 4.25, 4.14, 4.23, 4.24, 4.08, 4.13, 4.22, 4.24, 4.13, 4.21, 4.31, 4.3, 4.1, 4.28, 4.09]], [190, "lost_success", null], [[190], "collision", [4.26]], [191, "success", null], [[191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [4.1, 4.12, 4.1, 4.13, 4.11, 4.12, 4.1, 4.26, 4.11]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 836, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 3, + "init_config_idx": 13, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [231.82, 231.17, 44.95, 163.57]], [14, "contact", null], [17, "grasped", null], [[17], "collision", [2.0]], [37, "success", null], [38, "lost_success", null], [42, "success", null], [45, "lost_success", null], [47, "success", null], [49, "lost_success", null], [50, "success", null], [53, "lost_success", null], [57, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [75, "success", null], [[76], "collision", [9.76]], [78, "lost_success", null], [83, "success", null], [96, "lost_success", null], [[96, 97, 98], "collision", [63.58, 27.21, 29.52]], [107, "success", null], [[111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126], "collision", [46.54, 31.14, 25.91, 28.15, 21.19, 40.05, 45.68, 21.78, 28.37, 23.31, 20.06, 32.1, 22.77, 33.26, 15.97, 34.87]], [129, "lost_success", null], [130, "success", null], [131, "lost_success", null], [[133, 134, 135, 136], "collision", [1.5, 10.18, 22.18, 30.99]], [137, "success", null], [[137], "collision", [27.07]], [139, "lost_success", null], [[139], "collision", [22.06]], [140, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149], "collision", [17.0, 15.86, 16.7, 19.55, 26.22, 23.27, 37.38, 44.44, 12.54, 31.23]], [150, "lost_success", null], [151, "success", null], [[151], "collision", [37.84]], [152, "lost_success", null], [[152], "collision", [29.4]], [153, "success", null], [[153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163], "collision", [23.2, 10.84, 12.7, 15.85, 23.94, 22.33, 10.98, 19.42, 17.11, 32.36, 9.83]], [164, "lost_success", null], [[164, 165, 166, 167], "collision", [1.42, 9.21, 15.88, 16.6]], [168, "success", null], [[168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192], "collision", [17.64, 20.89, 22.59, 30.12, 17.26, 28.35, 25.02, 6.19, 7.77, 19.57, 26.89, 32.32, 35.27, 38.07, 29.96, 26.35, 20.45, 24.37, 20.65, 21.08, 6.81, 18.24, 5.29, 17.84]], [193, "lost_success", null], [195, "success", null], [[197, 198, 199], "collision", [10.37, 7.97, 8.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 837, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 27, + "init_config_idx": 0, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 4, 23], "collision", [387.49, 160.68, 156.43, 0.88]], [24, "contact", null], [24, "grasped", null], [46, "success", null], [53, "lost_success", null], [56, "success", null], [58, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [65, "lost_success", null], [68, "success", null], [70, "lost_success", null], [[70], "collision", [91.17]], [71, "success", null], [[71, 72, 73, 74, 75, 76, 77, 78, 79, 80], "collision", [46.28, 45.11, 37.79, 46.46, 45.99, 45.1, 43.91, 42.32, 41.14, 37.07]], [81, "lost_success", null], [[81, 83], "collision", [30.06, 24.74]], [84, "success", null], [[84], "collision", [18.51]], [86, "lost_success", null], [88, "success", null], [90, "lost_success", null], [[90], "collision", [19.0]], [91, "success", null], [[92, 93, 94, 95], "collision", [13.16, 15.11, 10.66, 9.65]], [96, "lost_success", null], [97, "success", null], [[98, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [11.85, 69.27, 52.97, 114.67, 108.54, 87.72, 93.29, 57.91, 56.13, 35.5, 41.2, 43.36, 42.89]], [115, "lost_success", null], [[115], "collision", [29.84]], [116, "success", null], [[116, 117, 118], "collision", [8.38, 7.01, 14.79]], [119, "lost_success", null], [[119], "collision", [20.16]], [120, "success", null], [[120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130], "collision", [21.13, 11.28, 41.01, 45.7, 47.52, 55.75, 46.36, 46.59, 44.05, 52.51, 44.51]], [131, "lost_success", null], [[131, 132, 133, 134], "collision", [35.76, 51.03, 56.26, 61.09]], [135, "success", null], [[136, 137], "collision", [61.6, 65.03]], [138, "lost_success", null], [[138], "collision", [57.4]], [139, "success", null], [[139, 140], "collision", [49.02, 49.76]], [141, "lost_success", null], [[141], "collision", [15.77]], [148, "success", null], [153, "lost_success", null], [155, "success", null], [[157, 158, 159], "collision", [6.35, 34.5, 3.88]], [161, "lost_success", null], [162, "success", null], [173, "lost_success", null], [174, "success", null], [[183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [37.55, 66.2, 80.3, 96.12, 94.94, 109.35, 100.05, 64.03, 94.75, 89.99, 84.9, 88.26, 100.37, 106.67, 112.21, 112.58, 123.53]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 838, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 7, + "init_config_idx": 12, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "grasped", null], [41, "success", null], [48, "lost_success", null], [62, "success", null], [68, "lost_success", null], [69, "success", null], [90, "lost_success", null], [94, "success", null], [99, "lost_success", null], [104, "success", null], [122, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 839, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 21, + "init_config_idx": 42, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [49, "success", null], [68, "lost_success", null], [77, "success", null], [106, "lost_success", null], [[120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162], "collision", [12.91, 12.4, 15.93, 16.07, 16.24, 17.46, 17.66, 16.78, 14.44, 14.69, 16.08, 17.27, 14.63, 15.68, 14.55, 6.56, 7.19, 7.0, 7.48, 6.74, 6.85, 6.66, 7.45, 7.81, 8.63, 8.16, 8.02, 8.67, 8.13, 7.66, 7.63, 8.15, 7.58, 6.26, 5.33, 6.37, 6.66, 6.41, 6.58, 6.31, 6.66, 4.75, 5.37]], [163, "success", null], [166, "lost_success", null], [[169], "collision", [49.94]], [173, "success", null], [181, "lost_success", null], [[182], "collision", [30.31]], [184, "success", null], [185, "lost_success", null], [[185, 187, 188], "collision", [14.89, 14.79, 14.0]], [196, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 840, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 0, + "init_config_idx": 5, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [23, "success", null], [25, "lost_success", null], [26, "success", null], [48, "lost_success", null], [52, "success", null], [91, "lost_success", null], [92, "success", null], [97, "lost_success", null], [100, "success", null], [111, "lost_success", null], [118, "success", null], [122, "lost_success", null], [129, "success", null], [130, "lost_success", null], [131, "success", null], [132, "lost_success", null], [139, "success", null], [143, "lost_success", null], [147, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [159, "success", null], [166, "lost_success", null], [171, "success", null], [173, "lost_success", null], [181, "success", null], [188, "lost_success", null], [194, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 841, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 39, + "init_config_idx": 16, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [[17, 18, 20, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34], "collision", [62.61, 125.22, 167.03, 73.84, 60.8, 103.23, 68.54, 60.19, 11.59, 21.82, 11.77, 28.81, 54.4]], [35, "success", null], [[35, 36, 37], "collision", [52.43, 24.22, 26.91]], [48, "lost_success", null], [63, "success", null], [69, "lost_success", null], [71, "success", null], [73, "lost_success", null], [76, "success", null], [[83], "collision", [3.7]], [85, "lost_success", null], [88, "success", null], [[98, 106, 107, 108, 109, 110, 111, 112, 113], "collision", [71.6, 111.69, 53.35, 104.77, 41.19, 88.8, 98.36, 34.28, 25.63]], [144, "lost_success", null], [155, "success", null], [167, "lost_success", null], [170, "success", null], [189, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 842, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 21, + "init_config_idx": 7, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [25, "grasped", null], [48, "success", null], [49, "lost_success", null], [62, "success", null], [69, "lost_success", null], [71, "success", null], [79, "lost_success", null], [80, "success", null], [113, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 843, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 41, + "init_config_idx": 3, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [788.27]], [20, "contact", null], [20, "grasped", null], [45, "success", null], [47, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null], [93, "lost_success", null], [94, "success", null], [100, "lost_success", null], [107, "success", null], [164, "lost_success", null], [174, "success", null], [182, "lost_success", null], [187, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 844, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 16, + "init_config_idx": 31, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [1859.72]], [21, "contact", null], [21, "grasped", null], [59, "success", null], [60, "lost_success", null], [124, "success", null], [127, "lost_success", null], [129, "success", null], [133, "lost_success", null], [134, "success", null], [137, "lost_success", null], [138, "success", null], [139, "lost_success", null], [140, "success", null], [143, "lost_success", null], [144, "success", null], [146, "lost_success", null], [147, "success", null], [150, "lost_success", null], [151, "success", null], [174, "lost_success", null], [176, "success", null], [185, "lost_success", null], [186, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 845, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 38, + "init_config_idx": 20, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 16], "collision", [1533.17, 141.94, 1090.95]], [17, "contact", null], [20, "grasped", null], [37, "success", null], [38, "lost_success", null], [39, "success", null], [51, "lost_success", null], [55, "success", null], [56, "lost_success", null], [60, "success", null], [69, "lost_success", null], [70, "success", null], [101, "lost_success", null], [110, "success", null], [113, "lost_success", null], [115, "success", null], [121, "lost_success", null], [132, "success", null], [135, "lost_success", null], [[190], "collision", [177.08]], [191, "success", null], [192, "lost_success", null], [[192], "collision", [39.81]], [193, "success", null], [195, "lost_success", null], [[195], "collision", [86.77]], [196, "success", null], [[196, 197, 198, 199], "collision", [88.18, 76.39, 49.96, 60.32]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 846, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 40, + "init_config_idx": 9, + "spawn_selection_idx": 99, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[32, 33, 34, 35], "collision", [69.57, 91.21, 94.85, 103.41]], [43, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [59, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [76, "lost_success", null], [77, "success", null], [78, "lost_success", null], [87, "success", null], [101, "lost_success", null], [[102, 104, 105, 106, 107], "collision", [427.15, 18.79, 14.84, 15.87, 12.57]], [108, "success", null], [[108, 109, 110], "collision", [12.87, 19.17, 18.55]], [111, "lost_success", null], [[111, 112, 113], "collision", [30.44, 15.45, 17.88]], [114, "success", null], [[114, 115], "collision", [9.23, 11.73]], [116, "lost_success", null], [117, "success", null], [138, "lost_success", null], [153, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 847, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 43, + "init_config_idx": 37, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [40, "success", null], [45, "lost_success", null], [[87, 88, 89, 90, 91, 94], "collision", [33.99, 33.07, 26.43, 30.47, 33.76, 27.65]], [95, "success", null], [[95, 96, 97, 98, 99, 100], "collision", [34.54, 34.37, 35.49, 38.9, 51.76, 43.43]], [101, "lost_success", null], [[101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113], "collision", [44.99, 56.2, 47.01, 37.29, 43.64, 47.18, 43.55, 41.51, 46.12, 41.6, 57.35, 46.62, 42.53]], [114, "success", null], [[114, 115], "collision", [44.08, 38.47]], [118, "lost_success", null], [[118], "collision", [320.78]], [120, "success", null], [[120], "collision", [475.66]], [121, "lost_success", null], [123, "success", null], [[123], "collision", [387.29]], [128, "lost_success", null], [129, "success", null], [133, "lost_success", null], [135, "success", null], [139, "lost_success", null], [140, "success", null], [151, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 848, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 9, + "init_config_idx": 19, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "grasped", null], [22, "success", null], [[23, 24, 25, 26], "collision", [82.28, 92.99, 89.87, 96.08]], [27, "lost_success", null], [[27], "collision", [82.83]], [29, "success", null], [35, "lost_success", null], [[35], "collision", [345.73]], [36, "success", null], [[36], "collision", [10.15]], [37, "lost_success", null], [[37], "collision", [64.98]], [38, "success", null], [[38], "collision", [12.79]], [39, "lost_success", null], [[39], "collision", [79.53]], [40, "success", null], [[40, 41, 42], "collision", [26.17, 48.53, 36.8]], [43, "lost_success", null], [46, "success", null], [83, "lost_success", null], [88, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [109, "success", null], [111, "lost_success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 151], "collision", [648.66, 198.7, 157.61, 42.91, 77.49, 67.2, 22.68, 52.59, 37.72, 37.29, 42.34, 83.76, 21.18]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 849, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 30, + "init_config_idx": 27, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [35, "success", null], [37, "lost_success", null], [42, "success", null], [48, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 850, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 40, + "init_config_idx": 29, + "spawn_selection_idx": 7, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "lost_contact", null], [16, "contact", null], [17, "grasped", null], [[18, 19], "collision", [93.74, 9.62]], [29, "success", null], [32, "lost_success", null], [33, "success", null], [34, "lost_success", null], [37, "success", null], [49, "lost_success", null], [54, "success", null], [94, "lost_success", null], [113, "success", null], [114, "lost_success", null], [121, "success", null], [122, "lost_success", null], [131, "success", null], [176, "lost_success", null], [197, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 851, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 29, + "init_config_idx": 33, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [27, "grasped", null], [[28, 29], "collision", [15.89, 0.7]], [44, "success", null], [45, "lost_success", null], [[56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66], "collision", [0.04, 0.03, 0.04, 0.04, 0.06, 0.07, 0.07, 0.07, 0.05, 0.05, 0.05]], [67, "success", null], [[67, 68, 70, 72, 73, 76, 78], "collision", [0.09, 0.13, 0.6, 0.07, 0.39, 0.28, 0.0]], [79, "lost_success", null], [[79, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106], "collision", [0.0, 0.03, 0.03, 0.04, 0.04, 0.04, 0.03, 0.02, 0.02, 0.02, 0.02, 0.02, 0.03, 0.03, 0.02, 0.02]], [120, "success", null], [121, "lost_success", null], [122, "success", null], [123, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 852, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 16, + "init_config_idx": 39, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [40, "success", null], [156, "lost_success", null], [159, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [168, "success", null], [181, "lost_success", null], [[197], "collision", [1431.24]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 853, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 52, + "init_config_idx": 32, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [[17], "collision", [3.34]], [18, "grasped", null], [37, "success", null], [48, "lost_success", null], [49, "success", null], [66, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 854, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 52, + "init_config_idx": 32, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [43, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [74, "success", null], [75, "lost_success", null], [77, "success", null], [81, "lost_success", null], [82, "success", null], [89, "lost_success", null], [158, "success", null], [159, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 855, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 60, + "init_config_idx": 0, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 18], "collision", [236.7, 226.54, 139.17, 250.64]], [19, "contact", null], [[20], "collision", [15.51]], [22, "grasped", null], [[23, 24, 35, 36], "collision", [394.5, 101.89, 71.26, 68.89]], [38, "success", null], [[38], "collision", [14.01]], [39, "lost_success", null], [100, "success", null], [109, "lost_success", null], [121, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 856, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 47, + "init_config_idx": 8, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "grasped", null], [[16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28], "collision", [3.42, 2.31, 1.91, 2.48, 2.15, 1.82, 1.55, 1.25, 1.31, 1.73, 1.93, 2.27, 1.91]], [29, "success", null], [[29, 30], "collision", [2.0, 1.88]], [31, "lost_success", null], [[31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43], "collision", [1.64, 1.49, 2.1, 1.82, 1.73, 2.0, 1.76, 1.7, 1.7, 1.85, 1.66, 2.05, 2.23]], [44, "success", null], [[44], "collision", [1.62]], [45, "lost_success", null], [[45, 46], "collision", [1.73, 1.96]], [47, "success", null], [[47, 48, 49, 50], "collision", [1.93, 1.56, 1.84, 1.74]], [51, "lost_success", null], [[51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108], "collision", [1.78, 1.78, 2.17, 2.01, 1.83, 2.12, 1.85, 2.09, 2.05, 2.06, 2.08, 1.88, 1.94, 1.95, 2.0, 1.96, 2.0, 1.95, 2.09, 2.01, 1.87, 1.96, 2.11, 1.76, 2.06, 2.2, 2.24, 2.04, 551.71, 2.0, 2.15, 382.91, 2.05, 472.21, 127.4, 1.94, 2.35, 40.04, 124.63, 49.19, 46.26, 123.81, 22.26, 22.15, 2.06, 2.25, 49.36, 1.8, 69.58, 2.01, 56.82, 2.49, 73.97, 1.96, 1.71, 1.71, 33.81, 4.07]], [109, "success", null], [[109, 110, 111, 112, 113, 114, 115], "collision", [3.02, 2.63, 2.81, 2.65, 3.21, 2.65, 2.78]], [116, "lost_success", null], [[116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [2.56, 2.95, 2.46, 3.09, 69.85, 22.13, 118.3, 3.06, 2.83, 24.88, 3.26, 2.86, 2.78, 2.85, 2.89, 2.89, 3.15, 2.82, 2.73, 2.78, 2.75, 2.85, 2.99, 3.18, 3.32, 3.56, 3.28, 3.33, 3.28, 3.31, 3.42, 3.76, 3.16, 3.13, 3.29, 3.34, 3.31, 3.29, 3.2, 2.91, 1.79, 1.79, 2.07, 1.83, 2.02, 1.93, 2.22, 1.95, 1.85, 2.02, 1.91, 2.09, 2.03, 2.0, 2.27, 2.26, 1.97, 1.91, 1.88, 2.23, 2.2, 2.53, 2.0, 2.04, 2.03, 1.98, 1.87, 1.92, 1.71, 1.63, 1.92, 2.06, 2.28, 2.57, 1.99, 1.65, 1.67, 1.44, 1.46, 1.46, 1.62, 2.06, 1.59, 1.79]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 857, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 54, + "init_config_idx": 8, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17, 18, 19], "collision", [510.03, 297.6, 853.81, 724.35, 514.08]], [20, "contact", null], [[21, 23, 25, 26], "collision", [1.77, 3.09, 5.08, 0.17]], [27, "grasped", null], [[27, 28], "collision", [2.63, 0.37]], [64, "success", null], [66, "lost_success", null], [67, "success", null], [80, "lost_success", null], [82, "success", null], [84, "lost_success", null], [85, "success", null], [[92, 94, 95], "collision", [185.49, 1.49, 180.62]], [96, "lost_success", null], [[96], "collision", [249.36]], [97, "success", null], [[97, 99], "collision", [87.94, 110.97]], [106, "lost_success", null], [130, "success", null], [134, "lost_success", null], [163, "success", null], [177, "lost_success", null], [194, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 858, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 18, + "init_config_idx": 47, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3], "collision", [774.62, 49.34]], [12, "contact", null], [14, "grasped", null], [30, "success", null], [33, "lost_success", null], [37, "success", null], [86, "lost_success", null], [88, "success", null], [107, "lost_success", null], [109, "success", null], [141, "lost_success", null], [152, "success", null], [153, "lost_success", null], [154, "success", null], [157, "lost_success", null], [159, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 859, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 32, + "init_config_idx": 29, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [1472.87]], [15, "contact", null], [16, "grasped", null], [[25, 26, 27, 28, 30], "collision", [113.42, 109.79, 91.61, 92.73, 95.33]], [34, "success", null], [39, "lost_success", null], [40, "success", null], [41, "lost_success", null], [43, "success", null], [48, "lost_success", null], [49, "success", null], [51, "lost_success", null], [55, "success", null], [172, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 860, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 0, + "init_config_idx": 31, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[49, 50, 51, 52, 53, 54, 55], "collision", [0.9, 0.05, 0.04, 0.1, 0.05, 0.07, 0.05]], [56, "success", null], [[56], "collision", [0.06]], [57, "lost_success", null], [[57], "collision", [0.08]], [58, "success", null], [[58, 59, 60, 61, 62], "collision", [0.07, 0.07, 0.06, 0.06, 0.06]], [63, "lost_success", null], [[63, 64, 65, 66, 67, 68, 69], "collision", [0.07, 0.07, 0.1, 0.06, 0.06, 0.05, 0.03]], [70, "success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 85, 86, 87], "collision", [0.05, 0.08, 0.06, 0.05, 0.04, 0.04, 0.04, 0.04, 0.04, 0.04, 0.03, 0.03, 0.03, 0.03, 0.05, 0.04]], [105, "lost_success", null], [109, "success", null], [[112, 113, 114, 116, 117, 118], "collision", [0.1, 0.08, 0.03, 0.19, 0.05, 0.13]], [119, "lost_success", null], [[119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [0.09, 0.14, 0.11, 0.15, 0.08, 0.12, 0.12, 0.1, 0.1, 0.13, 0.11, 0.19, 0.18, 0.21, 0.2, 0.2, 0.25, 0.19, 0.2]], [138, "success", null], [[138, 139, 140, 141, 142, 143, 144, 145, 146], "collision", [0.16, 0.18, 0.18, 0.17, 0.18, 0.18, 0.2, 0.25, 0.21]], [147, "lost_success", null], [[147, 148], "collision", [0.22, 0.15]], [149, "success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161], "collision", [0.15, 0.13, 0.18, 0.18, 0.12, 0.1, 0.02, 0.03, 0.03, 0.03, 0.03, 0.03, 0.03]], [175, "lost_success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.05, 0.04, 0.09, 0.05, 0.06, 0.06, 0.06, 0.07, 0.07, 0.07, 0.07, 0.05, 0.05, 0.07, 0.06, 0.07, 0.07, 0.05, 0.07, 0.06, 0.06, 0.06]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 861, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 48, + "init_config_idx": 18, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [630.53, 258.99, 134.46]], [15, "contact", null], [15, "grasped", null], [[21], "collision", [551.01]], [32, "success", null], [51, "lost_success", null], [57, "success", null], [60, "lost_success", null], [66, "success", null], [111, "lost_success", null], [[117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135], "collision", [0.03, 0.03, 0.01, 0.03, 0.02, 0.03, 0.03, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02]], [136, "success", null], [[136, 137, 138, 139, 140, 141, 142], "collision", [0.02, 0.01, 0.01, 0.02, 0.02, 0.02, 0.02]], [143, "lost_success", null], [[143], "collision", [0.02]], [144, "success", null], [[144, 145, 146, 147], "collision", [0.01, 0.01, 0.01, 0.01]], [148, "lost_success", null], [[148, 149, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.01, 0.01, 0.01, 0.12, 0.07, 0.06, 0.09, 0.09, 0.09, 0.08, 0.09, 0.09, 0.08, 0.09, 0.08, 0.1, 0.09, 0.09, 0.08, 0.09, 0.09, 0.1, 0.09, 0.09, 0.09, 0.1, 0.07, 0.1, 0.07, 0.09, 0.1, 0.09, 0.06, 0.1, 0.07, 0.08, 0.11, 0.1, 0.09, 0.1, 0.07, 0.09, 0.11, 0.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 862, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 15, + "init_config_idx": 10, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [124, "success", null], [125, "lost_success", null], [126, "success", null], [138, "lost_success", null], [140, "success", null], [141, "lost_success", null], [142, "success", null], [143, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 863, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 30, + "init_config_idx": 48, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [45, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [72, "lost_success", null], [75, "success", null], [77, "lost_success", null], [81, "success", null], [[102, 103, 104, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [183.04, 102.37, 13.14, 79.85, 69.07, 44.57, 44.37, 47.74, 87.0, 49.96, 25.16, 20.04]], [117, "lost_success", null], [[117], "collision", [157.82]], [118, "success", null], [[119, 120, 121, 122, 123, 124, 125, 126, 127], "collision", [135.25, 33.72, 90.28, 154.05, 107.69, 119.26, 117.29, 78.71, 107.12]], [159, "lost_success", null], [167, "success", null], [192, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 864, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 43, + "init_config_idx": 20, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [45, "success", null], [[54], "collision", [223.09]], [60, "lost_success", null], [61, "success", null], [66, "lost_success", null], [84, "success", null], [86, "lost_success", null], [89, "success", null], [98, "lost_success", null], [108, "success", null], [116, "lost_success", null], [133, "success", null], [143, "lost_success", null], [144, "success", null], [148, "lost_success", null], [149, "success", null], [152, "lost_success", null], [168, "success", null], [176, "lost_success", null], [177, "success", null], [185, "lost_success", null], [186, "success", null], [191, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 865, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 6, + "init_config_idx": 22, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [26, "success", null], [38, "lost_success", null], [60, "success", null], [64, "lost_success", null], [65, "success", null], [67, "lost_success", null], [76, "success", null], [79, "lost_success", null], [80, "success", null], [81, "lost_success", null], [117, "success", null], [122, "lost_success", null], [168, "success", null], [169, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 866, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 35, + "init_config_idx": 14, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [133.69]], [17, "contact", null], [17, "grasped", null], [[21, 22], "collision", [137.66, 216.13]], [30, "success", null], [31, "lost_success", null], [32, "success", null], [51, "lost_success", null], [58, "success", null], [69, "lost_success", null], [71, "success", null], [73, "lost_success", null], [76, "success", null], [114, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 867, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 46, + "init_config_idx": 26, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "lost_contact", null], [24, "contact", null], [[25], "collision", [83.87]], [26, "grasped", null], [[26], "collision", [102.49]], [41, "success", null], [42, "lost_success", null], [43, "success", null], [48, "lost_success", null], [71, "success", null], [95, "lost_success", null], [102, "success", null], [110, "lost_success", null], [112, "success", null], [116, "lost_success", null], [126, "success", null], [138, "lost_success", null], [146, "success", null], [163, "lost_success", null], [166, "success", null], [[166, 167, 168], "collision", [558.53, 30.36, 0.95]], [169, "lost_success", null], [[170, 171], "collision", [106.92, 39.65]], [172, "success", null], [184, "lost_success", null], [187, "success", null], [[187], "collision", [96.66]], [188, "lost_success", null], [[188, 189, 190], "collision", [26.69, 38.82, 57.43]], [191, "success", null], [[191, 192, 193], "collision", [28.81, 22.86, 10.42]], [194, "lost_success", null], [[194, 195, 196], "collision", [58.56, 63.44, 48.39]], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 868, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 8, + "init_config_idx": 46, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 21], "collision", [583.77, 765.25]], [22, "contact", null], [[22], "collision", [0.71]], [23, "grasped", null], [[23, 24, 28], "collision", [4.79, 0.13, 69.44]], [98, "success", null], [121, "lost_success", null], [132, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [153, "success", null], [160, "lost_success", null], [161, "success", null], [169, "lost_success", null], [191, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 869, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 0, + "init_config_idx": 36, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [[19], "collision", [0.52]], [20, "grasped", null], [36, "success", null], [60, "lost_success", null], [[60], "collision", [64.33]], [61, "success", null], [[61, 62, 63, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [25.83, 24.85, 18.6, 37.35, 52.04, 61.04, 46.47, 56.6, 64.14, 87.9, 93.54, 102.57, 114.91, 113.14, 137.37, 142.75, 119.88, 86.05, 69.89, 34.02, 38.9, 66.67, 72.18, 36.39, 114.95, 71.81, 20.52, 29.02, 70.82, 39.38, 35.19, 16.84, 21.23, 28.62, 31.8]], [165, "lost_success", null], [168, "success", null], [192, "lost_success", null], [196, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 870, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 15, + "init_config_idx": 14, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 6, 7, 8], "collision", [43.45, 484.53, 177.58, 156.33]], [13, "contact", null], [14, "grasped", null], [34, "success", null], [35, "lost_success", null], [36, "success", null], [38, "lost_success", null], [40, "success", null], [42, "lost_success", null], [[42, 43], "collision", [28.44, 31.09]], [44, "success", null], [[44], "collision", [34.04]], [45, "lost_success", null], [[45, 46, 47], "collision", [51.09, 49.55, 28.55]], [48, "success", null], [[48], "collision", [32.79]], [49, "lost_success", null], [[49], "collision", [45.9]], [58, "success", null], [66, "lost_success", null], [84, "success", null], [85, "lost_success", null], [86, "success", null], [89, "lost_success", null], [91, "success", null], [93, "lost_success", null], [94, "success", null], [96, "lost_success", null], [98, "success", null], [99, "lost_success", null], [109, "success", null], [128, "lost_success", null], [129, "success", null], [141, "lost_success", null], [143, "success", null], [146, "lost_success", null], [147, "success", null], [180, "lost_success", null], [183, "success", null], [186, "lost_success", null], [187, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 871, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 54, + "init_config_idx": 29, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 9, 10, 11, 12, 13, 14], "collision", [319.77, 1181.66, 216.81, 311.79, 303.89, 493.84, 207.34]], [20, "contact", null], [22, "lost_contact", null], [24, "contact", null], [24, "grasped", null], [42, "success", null], [43, "lost_success", null], [48, "success", null], [53, "lost_success", null], [54, "success", null], [66, "lost_success", null], [68, "success", null], [101, "lost_success", null], [103, "success", null], [109, "lost_success", null], [110, "success", null], [111, "lost_success", null], [112, "success", null], [131, "lost_success", null], [138, "success", null], [173, "lost_success", null], [179, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 872, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 47, + "init_config_idx": 31, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15], "collision", [664.95, 193.27, 210.44, 174.44]], [19, "contact", null], [[20], "collision", [1.3]], [21, "grasped", null], [[21, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42], "collision", [0.8, 5.3, 2.34, 2.7, 1.74, 1.8, 0.18, 1.46, 2.04, 2.03, 2.0, 1.87]], [43, "success", null], [[43, 44, 45, 46, 47], "collision", [0.8, 0.33, 0.67, 0.44, 0.56]], [48, "lost_success", null], [[48, 49, 50], "collision", [0.61, 0.9, 0.85]], [51, "success", null], [[51, 52, 53, 54, 55, 56, 58, 59, 60, 61, 62, 63, 64], "collision", [0.85, 0.75, 0.71, 0.8, 0.53, 0.78, 0.61, 0.58, 0.57, 0.51, 0.66, 0.97, 0.8]], [65, "lost_success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [0.8, 0.61, 0.46, 0.69, 0.81, 0.78, 0.32, 0.81, 0.85, 0.05, 0.73, 0.78]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102], "collision", [0.79, 0.84, 0.83, 0.84, 0.85, 0.82, 0.8, 0.08, 0.78, 0.52, 0.1, 0.76, 0.85, 0.13, 0.78, 0.78, 0.76, 0.94, 0.96, 0.98, 0.58, 0.68, 0.86, 0.89, 0.81, 0.74]], [103, "lost_success", null], [[103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147], "collision", [0.9, 0.35, 0.1, 0.82, 0.16, 0.92, 0.02, 0.55, 0.77, 0.93, 0.77, 0.87, 0.66, 0.85, 0.61, 0.79, 0.73, 0.82, 0.82, 0.44, 0.8, 0.94, 0.07, 1.67, 1.17, 0.68, 1.62, 1.48, 0.98, 1.41, 1.34, 0.78, 0.64, 1.29, 1.41, 1.25, 1.51, 1.06, 1.49, 1.12, 1.14, 1.63, 1.4, 1.58, 1.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 873, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 7, + "init_config_idx": 32, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [44, "success", null], [56, "lost_success", null], [63, "success", null], [90, "lost_success", null], [111, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 874, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 39, + "init_config_idx": 14, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [15, "grasped", null], [[24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "collision", [153.34, 91.24, 97.93, 101.26, 110.37, 113.34, 114.04, 113.12, 104.74, 97.56, 96.03, 114.33]], [44, "success", null], [47, "lost_success", null], [53, "success", null], [97, "lost_success", null], [102, "success", null], [123, "lost_success", null], [126, "success", null], [136, "lost_success", null], [137, "success", null], [174, "lost_success", null], [[179, 180, 181, 182, 183, 184], "collision", [151.23, 39.69, 31.39, 22.43, 17.03, 19.54]], [185, "success", null], [[185, 186, 187, 188], "collision", [12.83, 22.88, 24.07, 26.93]], [189, "lost_success", null], [[189, 190, 191, 192, 193, 194, 195, 196], "collision", [35.07, 26.93, 23.07, 24.2, 25.06, 21.41, 15.26, 15.75]], [197, "success", null], [[197, 198, 199], "collision", [15.43, 18.74, 15.71]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 875, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 3, + "init_config_idx": 37, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 18], "collision", [751.73, 130.72]], [25, "contact", null], [[25], "collision", [98.22]], [26, "grasped", null], [54, "success", null], [64, "lost_success", null], [74, "success", null], [75, "lost_success", null], [76, "success", null], [91, "lost_success", null], [92, "success", null], [100, "lost_success", null], [101, "success", null], [103, "lost_success", null], [118, "success", null], [157, "lost_success", null], [168, "success", null], [185, "lost_success", null], [186, "success", null], [187, "lost_success", null], [188, "success", null], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null], [195, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 876, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 1, + "init_config_idx": 31, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [201.53, 181.24]], [19, "contact", null], [19, "grasped", null], [[22], "collision", [85.81]], [33, "success", null], [35, "lost_success", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [61, "lost_success", null], [62, "success", null], [69, "lost_success", null], [86, "success", null], [88, "lost_success", null], [91, "success", null], [128, "lost_success", null], [131, "success", null], [142, "lost_success", null], [143, "success", null], [172, "lost_success", null], [173, "success", null], [183, "lost_success", null], [185, "success", null], [186, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 877, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 54, + "init_config_idx": 44, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [1648.92]], [21, "contact", null], [22, "grasped", null], [39, "success", null], [102, "lost_success", null], [104, "success", null], [113, "lost_success", null], [115, "success", null], [142, "lost_success", null], [143, "success", null], [144, "lost_success", null], [150, "success", null], [[160, 161], "collision", [12.03, 166.9]], [162, "lost_success", null], [[162, 163], "collision", [73.9, 214.15]], [164, "success", null], [[164], "collision", [266.06]], [165, "lost_success", null], [[165], "collision", [54.96]], [170, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 878, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 32, + "init_config_idx": 22, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15], "collision", [366.21, 373.41, 282.92, 176.71]], [16, "contact", null], [18, "grasped", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [50, "lost_success", null], [63, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85], "collision", [0.01, 0.01, 0.12, 0.05, 0.12, 0.12, 0.14, 0.21, 0.26, 0.22, 0.24, 0.23, 0.18, 0.21, 0.18, 0.22, 0.22, 0.2, 0.17, 0.26, 0.26]], [86, "lost_success", null], [[86, 87, 88, 89], "collision", [0.27, 0.26, 0.25, 0.25]], [90, "success", null], [[90], "collision", [0.28]], [91, "lost_success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103], "collision", [0.29, 0.29, 0.28, 0.29, 0.29, 0.29, 0.28, 0.26, 0.27, 0.25, 0.24, 0.23, 0.26]], [104, "success", null], [[104, 105, 106, 107, 108, 109, 110], "collision", [0.29, 0.3, 0.39, 0.46, 0.38, 0.4, 0.27]], [111, "lost_success", null], [[111], "collision", [0.42]], [112, "success", null], [[112, 113, 114, 115, 116, 117, 118, 119, 120, 121], "collision", [0.31, 0.34, 0.22, 0.09, 0.01, 0.03, 0.25, 0.03, 0.08, 0.09]], [122, "lost_success", null], [[122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [0.07, 0.07, 0.04, 0.05, 0.08, 0.06, 0.07, 0.06, 0.06, 0.07, 0.06, 0.05, 0.06, 0.06, 0.07, 0.08]], [138, "success", null], [[138, 139], "collision", [0.06, 0.07]], [140, "lost_success", null], [[140, 141, 142, 143, 144, 145], "collision", [0.06, 0.07, 0.06, 0.06, 0.08, 0.06]], [146, "success", null], [[146, 147, 148], "collision", [0.06, 0.08, 0.06]], [149, "lost_success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171], "collision", [0.06, 0.07, 0.06, 0.07, 0.06, 0.07, 0.12, 0.06, 0.07, 0.08, 0.05, 0.05, 0.05, 0.05, 0.08, 0.08, 0.06, 0.08, 0.06, 0.08, 0.06, 0.06, 0.07]], [172, "success", null], [[172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183], "collision", [0.07, 0.06, 0.06, 0.07, 0.07, 0.01, 0.06, 0.07, 0.07, 0.07, 0.05, 0.07]], [184, "lost_success", null], [[184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.06, 0.06, 0.06, 0.05, 0.09, 0.06, 0.06, 0.09, 0.06, 0.06, 0.07, 0.08, 0.06, 0.06, 0.33, 0.14]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 879, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 10, + "init_config_idx": 16, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [[26], "collision", [0.04]], [41, "success", null], [45, "lost_success", null], [47, "success", null], [[58], "collision", [110.47]], [71, "lost_success", null], [77, "success", null], [89, "lost_success", null], [91, "success", null], [92, "lost_success", null], [94, "success", null], [127, "lost_success", null], [130, "success", null], [162, "lost_success", null], [166, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 880, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 16, + "init_config_idx": 19, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "lost_contact", null], [23, "contact", null], [25, "lost_contact", null], [29, "contact", null], [[29], "collision", [0.85]], [30, "grasped", null], [[30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47], "collision", [4.28, 4.18, 4.23, 4.35, 4.03, 3.86, 3.76, 3.76, 2.86, 3.14, 3.15, 3.15, 3.46, 3.09, 3.13, 3.17, 3.45, 3.56]], [48, "success", null], [[48], "collision", [3.42]], [49, "lost_success", null], [[49, 50, 51, 52, 53], "collision", [3.24, 3.33, 3.19, 3.24, 3.23]], [54, "success", null], [[54], "collision", [3.33]], [55, "lost_success", null], [[55], "collision", [3.42]], [56, "success", null], [[56, 57, 58], "collision", [3.52, 3.31, 3.38]], [59, "lost_success", null], [[59, 60, 61, 62, 63, 64], "collision", [3.32, 3.38, 3.56, 3.58, 3.5, 3.37]], [65, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72], "collision", [3.26, 3.3, 3.34, 3.39, 3.37, 3.4, 3.36, 3.44]], [73, "lost_success", null], [[73], "collision", [3.29]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86], "collision", [3.33, 3.39, 3.28, 3.33, 3.34, 3.35, 3.26, 3.34, 3.27, 3.12, 3.11, 3.1, 3.11]], [87, "lost_success", null], [[87, 88, 89], "collision", [3.13, 3.13, 3.09]], [90, "success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102], "collision", [3.15, 3.23, 3.21, 3.17, 3.2, 3.19, 3.29, 3.24, 3.28, 3.36, 3.27, 3.25, 3.41]], [103, "lost_success", null], [[103, 104, 105, 106], "collision", [3.39, 3.33, 3.37, 3.33]], [107, "success", null], [[107, 108, 109], "collision", [3.24, 3.29, 3.36]], [110, "lost_success", null], [[110, 111, 112], "collision", [3.4, 3.38, 3.33]], [113, "success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121], "collision", [3.39, 3.43, 3.22, 3.05, 3.16, 3.19, 3.39, 3.32, 3.09]], [122, "lost_success", null], [[122, 123, 124, 125], "collision", [3.06, 3.19, 3.11, 3.14]], [126, "success", null], [[126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [3.28, 3.31, 3.25, 3.09, 3.22, 3.41, 3.26, 3.33, 3.27, 3.35, 3.41, 3.34]], [138, "lost_success", null], [[138], "collision", [3.39]], [139, "success", null], [[139, 140, 141, 142, 143, 144, 145], "collision", [3.44, 3.55, 3.39, 3.28, 3.18, 3.21, 3.18]], [146, "lost_success", null], [[146], "collision", [3.26]], [147, "success", null], [[147], "collision", [3.17]], [148, "lost_success", null], [[148], "collision", [3.13]], [149, "success", null], [[149, 150, 151, 152, 153, 154], "collision", [2.91, 2.99, 3.25, 3.39, 3.49, 3.52]], [155, "lost_success", null], [[155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [3.69, 3.41, 3.43, 3.57, 3.42, 3.38, 3.48, 3.43, 3.46, 3.44, 3.4, 3.42, 3.37, 3.4, 3.37]], [170, "success", null], [[170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180], "collision", [3.43, 3.52, 3.51, 3.56, 3.35, 3.45, 3.49, 3.57, 3.54, 3.48, 3.49]], [181, "lost_success", null], [[181], "collision", [3.57]], [182, "success", null], [[182, 183, 184, 185], "collision", [3.52, 3.55, 3.5, 3.46]], [186, "lost_success", null], [[186, 187, 188, 189, 190, 191, 192, 193, 194, 195], "collision", [3.6, 3.63, 3.75, 3.71, 3.71, 3.61, 3.58, 3.45, 34.27, 20.67]], [196, "success", null], [[196, 197], "collision", [3.48, 2.53]], [198, "lost_success", null], [[198], "collision", [2.85]], [199, "success", null], [[199], "collision", [4.19]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 881, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 37, + "init_config_idx": 30, + "spawn_selection_idx": 7, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "lost_contact", null], [18, "contact", null], [19, "lost_contact", null], [23, "contact", null], [24, "grasped", null], [41, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 78, 79, 80, 82], "collision", [71.33, 96.03, 59.83, 93.76, 73.38, 115.04, 97.37, 135.91, 104.55, 106.25, 100.78, 102.86, 22.64, 71.16, 60.7, 92.8, 36.47, 214.36, 108.48, 139.76, 76.48]], [155, "lost_success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [57.89, 43.19, 36.06, 41.33, 36.15, 37.64, 39.03, 48.36, 45.87, 35.52, 44.81, 43.09, 43.47, 39.03, 45.96, 41.55, 46.47, 41.35, 46.04, 42.33, 37.42, 35.73, 40.3, 39.06, 33.03, 37.86, 35.33]], [194, "success", null], [[194, 195, 196, 197], "collision", [34.94, 31.32, 41.51, 38.69]], [198, "lost_success", null], [[198, 199], "collision", [229.79, 81.73]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 882, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 36, + "init_config_idx": 42, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [[26, 27, 28], "collision", [242.81, 64.57, 57.11]], [36, "success", null], [82, "lost_success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "collision", [28.27, 30.39, 55.11, 112.66, 58.56, 66.21, 57.67, 63.23, 66.22, 60.98, 40.95, 44.32, 51.11, 57.6]], [102, "success", null], [[102, 103, 104], "collision", [51.21, 35.92, 37.11]], [105, "lost_success", null], [[105], "collision", [30.66]], [106, "success", null], [[106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140], "collision", [46.61, 57.75, 42.6, 27.88, 20.62, 40.62, 32.65, 47.97, 55.4, 53.53, 44.44, 53.96, 46.32, 47.89, 48.66, 44.2, 50.32, 48.05, 50.29, 45.76, 43.58, 32.76, 40.3, 36.78, 1.86, 3.0, 6.26, 14.35, 26.54, 37.93, 33.48, 41.4, 6.03, 13.28, 23.42]], [144, "lost_success", null], [145, "success", null], [[145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156], "collision", [31.36, 23.06, 38.73, 21.1, 9.05, 19.46, 29.76, 32.57, 23.99, 15.23, 7.82, 11.34]], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null], [167, "success", null], [171, "lost_success", null], [172, "success", null], [179, "lost_success", null], [189, "success", null], [198, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 883, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 38, + "init_config_idx": 3, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [49, "success", null], [53, "lost_success", null], [70, "success", null], [79, "lost_success", null], [83, "success", null], [90, "lost_success", null], [118, "success", null], [140, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 884, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 22, + "init_config_idx": 10, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [[30, 31, 32, 33, 34], "collision", [134.57, 120.01, 89.92, 85.29, 101.54]], [41, "success", null], [57, "lost_success", null], [61, "success", null], [66, "lost_success", null], [67, "success", null], [69, "lost_success", null], [70, "success", null], [84, "lost_success", null], [86, "success", null], [89, "lost_success", null], [93, "success", null], [96, "lost_success", null], [104, "success", null], [111, "lost_success", null], [115, "success", null], [130, "lost_success", null], [186, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 885, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 33, + "init_config_idx": 3, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [23, "success", null], [29, "lost_success", null], [30, "success", null], [42, "lost_success", null], [44, "success", null], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [91, "success", null], [92, "lost_success", null], [95, "success", null], [100, "lost_success", null], [[113, 115, 117, 137], "collision", [1624.48, 80.19, 25.08, 28.21]], [188, "success", null], [190, "lost_success", null], [191, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 886, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 13, + "init_config_idx": 7, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [25, "grasped", null], [[25], "collision", [7.46]], [47, "success", null], [49, "lost_success", null], [50, "success", null], [95, "lost_success", null], [97, "success", null], [98, "lost_success", null], [154, "success", null], [162, "lost_success", null], [178, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 887, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 29, + "init_config_idx": 25, + "spawn_selection_idx": 7, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [20, "grasped", null], [36, "success", null], [37, "lost_success", null], [38, "success", null], [43, "lost_success", null], [45, "success", null], [49, "lost_success", null], [51, "success", null], [54, "lost_success", null], [55, "success", null], [107, "lost_success", null], [108, "success", null], [123, "lost_success", null], [124, "success", null], [158, "lost_success", null], [162, "success", null], [167, "lost_success", null], [168, "success", null], [192, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 888, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 25, + "init_config_idx": 33, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [18, "grasped", null], [[22, 23, 24], "collision", [226.79, 226.85, 149.73]], [33, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [51, "success", null], [57, "lost_success", null], [58, "success", null], [73, "lost_success", null], [80, "success", null], [93, "lost_success", null], [101, "success", null], [179, "lost_success", null], [180, "success", null], [181, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 889, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 42, + "init_config_idx": 25, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[9, "contact", null], [14, "grasped", null], [[58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81], "collision", [177.17, 37.39, 31.85, 35.17, 28.14, 27.23, 34.85, 46.09, 35.02, 35.73, 32.77, 29.26, 26.96, 38.04, 21.93, 35.45, 29.85, 25.43, 24.28, 25.98, 24.85, 20.0, 19.68, 14.59]], [82, "success", null], [[82], "collision", [19.2]], [85, "lost_success", null], [86, "success", null], [95, "lost_success", null], [100, "success", null], [101, "lost_success", null], [105, "success", null], [106, "lost_success", null], [107, "success", null], [109, "lost_success", null], [113, "success", null], [124, "lost_success", null], [143, "success", null], [144, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 890, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 32, + "init_config_idx": 48, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [33, "success", null], [[40, 41, 42], "collision", [70.3, 50.7, 41.15]], [43, "lost_success", null], [[43], "collision", [425.46]], [44, "success", null], [45, "lost_success", null], [46, "success", null], [[47, 48], "collision", [77.29, 78.73]], [49, "lost_success", null], [[49], "collision", [52.99]], [50, "success", null], [[50], "collision", [54.94]], [51, "lost_success", null], [[51], "collision", [80.66]], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 71, 72, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [81.68, 125.83, 145.02, 135.64, 111.6, 86.29, 65.5, 131.48, 100.64, 58.77, 78.16, 48.12, 54.15, 46.72, 72.78, 50.34, 82.55, 83.0, 49.83, 22.77, 41.42, 74.85, 70.1, 54.87, 63.49, 118.0, 64.34, 15.43]], [90, "lost_success", null], [104, "success", null], [106, "lost_success", null], [113, "success", null], [127, "lost_success", null], [132, "success", null], [152, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 891, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 23, + "init_config_idx": 54, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 8, 9, 14, 15, 16, 17], "collision", [201.2, 558.72, 131.76, 404.9, 366.33, 217.66, 842.07]], [20, "contact", null], [21, "grasped", null], [[31, 32, 33, 34, 35, 36], "collision", [112.73, 61.24, 78.36, 27.36, 16.65, 12.7]], [45, "success", null], [47, "lost_success", null], [48, "success", null], [50, "lost_success", null], [51, "success", null], [58, "lost_success", null], [59, "success", null], [140, "lost_success", null], [145, "success", null], [168, "lost_success", null], [169, "success", null], [173, "lost_success", null], [189, "success", null], [191, "lost_success", null], [196, "success", null], [198, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 892, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 19, + "task_plan_idx": 10, + "init_config_idx": 18, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22], "collision", [0.5]], [23, "contact", null], [23, "grasped", null], [[36, 37, 38, 39], "collision", [86.39, 56.99, 50.09, 79.12]], [43, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [63, "lost_success", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [78, "success", null], [82, "lost_success", null], [93, "success", null], [96, "lost_success", null], [111, "success", null], [171, "lost_success", null], [191, "success", null], [198, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 893, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 18, + "init_config_idx": 18, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [[28], "collision", [50.83]], [41, "success", null], [61, "lost_success", null], [62, "success", null], [71, "lost_success", null], [84, "success", null], [87, "lost_success", null], [100, "success", null], [102, "lost_success", null], [105, "success", null], [107, "lost_success", null], [108, "success", null], [113, "lost_success", null], [114, "success", null], [115, "lost_success", null], [116, "success", null], [151, "lost_success", null], [155, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 894, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 13, + "init_config_idx": 6, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 21], "collision", [1908.76, 271.41]], [22, "contact", null], [[23], "collision", [144.66]], [30, "lost_contact", null], [31, "contact", null], [[31], "collision", [473.98]], [32, "lost_contact", null], [[32], "collision", [175.65]], [34, "contact", null], [34, "grasped", null], [[45, 46, 47, 48, 49], "collision", [50.31, 77.25, 76.28, 78.43, 86.38]], [59, "success", null], [63, "lost_success", null], [64, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [71, "success", null], [75, "lost_success", null], [76, "success", null], [103, "lost_success", null], [[103], "collision", [222.54]], [104, "success", null], [137, "lost_success", null], [145, "success", null], [146, "lost_success", null], [147, "success", null], [177, "lost_success", null], [180, "success", null], [184, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 895, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 11, + "init_config_idx": 51, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[23], "collision", [177.68]], [24, "contact", null], [24, "grasped", null], [44, "success", null], [83, "lost_success", null], [87, "success", null], [157, "lost_success", null], [161, "success", null], [171, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 896, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 59, + "init_config_idx": 53, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[28], "collision", [19.77]], [37, "success", null], [47, "lost_success", null], [49, "success", null], [114, "lost_success", null], [115, "success", null], [[116, 117], "collision", [22.53, 16.78]], [118, "lost_success", null], [[118, 119, 120], "collision", [16.04, 14.49, 14.98]], [121, "success", null], [[121, 122, 123, 124, 125, 126, 127, 128], "collision", [11.2, 12.17, 13.11, 12.31, 17.24, 12.72, 12.96, 17.96]], [129, "lost_success", null], [[129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 147], "collision", [17.55, 18.66, 18.3, 15.3, 13.4, 14.29, 13.35, 13.8, 12.31, 12.71, 13.07, 12.94, 13.84, 13.59, 8.64, 9.83, 6.56, 23.73]], [148, "success", null], [[148, 149], "collision", [22.38, 49.32]], [178, "lost_success", null], [186, "success", null], [187, "lost_success", null], [188, "success", null], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 897, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 23, + "init_config_idx": 4, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3], "collision", [169.32, 165.66]], [20, "contact", null], [22, "grasped", null], [50, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [65, "lost_success", null], [67, "success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [13.68, 25.49, 18.0, 19.24, 28.39, 21.94, 11.92, 22.13, 41.29, 39.96]], [78, "lost_success", null], [[78, 79, 80, 81, 82, 83, 84, 85], "collision", [39.66, 20.95, 19.99, 14.42, 5.31, 16.83, 9.01, 11.49]], [90, "success", null], [96, "lost_success", null], [98, "success", null], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [105, "success", null], [112, "lost_success", null], [[115, 116], "collision", [18.43, 37.88]], [117, "success", null], [[117], "collision", [40.78]], [118, "lost_success", null], [120, "success", null], [[120, 121, 122, 123, 124, 125, 126, 127], "collision", [43.15, 34.58, 27.39, 21.81, 24.62, 29.35, 35.45, 41.6]], [128, "lost_success", null], [[128, 129, 130], "collision", [12.95, 15.78, 36.71]], [131, "success", null], [[131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [39.87, 30.86, 33.28, 27.76, 35.87, 34.82, 34.94, 27.21, 37.1, 28.86, 31.9, 24.66, 27.54, 32.63, 25.76]], [146, "lost_success", null], [[146, 147], "collision", [18.32, 40.19]], [148, "success", null], [[148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181], "collision", [27.5, 19.81, 26.03, 23.61, 23.99, 23.78, 23.89, 23.29, 20.01, 24.54, 27.42, 36.79, 32.07, 24.18, 27.92, 22.9, 20.65, 21.49, 23.42, 18.0, 25.22, 29.2, 27.77, 40.63, 20.17, 21.1, 24.78, 14.02, 4.88, 33.21, 31.89, 32.72, 18.55]], [182, "lost_success", null], [183, "success", null], [[185, 186, 187, 188], "collision", [0.0, 9.96, 26.72, 37.33]], [189, "lost_success", null], [[189, 190, 191], "collision", [35.15, 25.87, 25.93]], [192, "success", null], [[192, 193, 194, 195, 196, 197, 198, 199], "collision", [46.18, 35.47, 26.4, 24.6, 40.4, 25.14, 65.78, 44.29]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 898, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 11, + "init_config_idx": 14, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22], "collision", [0.03]], [23, "contact", null], [[23, 24, 25], "collision", [12.82, 242.77, 246.74]], [26, "grasped", null], [[26, 27, 28, 29], "collision", [57.82, 26.86, 221.02, 148.79]], [45, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [57, "lost_success", null], [58, "success", null], [61, "lost_success", null], [62, "success", null], [64, "lost_success", null], [69, "success", null], [[70, 71, 72, 73, 75, 76, 78, 79, 81], "collision", [9.28, 33.89, 30.07, 41.98, 8.85, 0.78, 29.09, 26.4, 3.99]], [82, "lost_success", null], [86, "success", null], [105, "lost_success", null], [110, "success", null], [114, "lost_success", null], [115, "success", null], [[144, 145, 146, 147, 148, 149, 150, 151, 152, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190], "collision", [44.89, 67.86, 49.11, 68.75, 52.25, 23.9, 18.79, 19.05, 30.04, 14.33, 15.31, 22.3, 30.03, 31.93, 26.53, 37.9, 23.44, 29.14, 43.76, 44.29, 39.44, 29.3, 30.83, 26.21, 35.91, 37.27, 40.0, 46.78, 49.08, 34.7, 28.94, 9.45, 35.1, 38.18, 45.83, 39.98, 31.9, 26.32, 16.03, 30.68, 26.79, 74.82, 33.55, 51.67, 113.25, 56.08]], [191, "lost_success", null], [[191], "collision", [233.57]], [192, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 899, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 23, + "init_config_idx": 4, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "lost_contact", null], [21, "contact", null], [21, "grasped", null], [39, "success", null], [40, "lost_success", null], [41, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [55, "lost_success", null], [56, "success", null], [66, "lost_success", null], [67, "success", null], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [84, "success", null], [85, "lost_success", null], [86, "success", null], [[86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104], "collision", [36.01, 52.41, 105.45, 220.93, 199.86, 78.33, 219.48, 62.37, 93.88, 90.81, 74.23, 56.1, 63.36, 77.55, 78.18, 29.64, 45.63, 46.18, 45.96]], [105, "lost_success", null], [[105], "collision", [26.3]], [106, "success", null], [[125, 126, 128], "collision", [19.07, 3.48, 5.85]], [133, "lost_success", null], [136, "success", null], [160, "lost_success", null], [161, "success", null], [172, "lost_success", null], [174, "success", null], [187, "lost_success", null], [188, "success", null], [190, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 900, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 23, + "task_plan_idx": 32, + "init_config_idx": 47, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "lost_contact", null], [25, "contact", null], [26, "lost_contact", null], [27, "contact", null], [27, "grasped", null], [52, "success", null], [53, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 901, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 8, + "init_config_idx": 25, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [37, "success", null], [38, "lost_success", null], [42, "success", null], [48, "lost_success", null], [51, "success", null], [[73], "collision", [21.16]], [75, "lost_success", null], [77, "success", null], [80, "lost_success", null], [85, "success", null], [95, "lost_success", null], [96, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 902, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 2, + "init_config_idx": 36, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [[31], "collision", [79.78]], [39, "success", null], [47, "lost_success", null], [48, "success", null], [55, "lost_success", null], [57, "success", null], [86, "lost_success", null], [87, "success", null], [92, "lost_success", null], [94, "success", null], [97, "lost_success", null], [98, "success", null], [120, "lost_success", null], [136, "success", null], [138, "lost_success", null], [155, "success", null], [170, "lost_success", null], [180, "success", null], [183, "lost_success", null], [186, "success", null], [187, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 903, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 8, + "init_config_idx": 23, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "lost_contact", null], [19, "contact", null], [21, "grasped", null], [[22], "collision", [0.3]], [36, "success", null], [52, "lost_success", null], [54, "success", null], [56, "lost_success", null], [57, "success", null], [63, "lost_success", null], [[64], "collision", [20.79]], [65, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74], "collision", [76.87, 84.15, 63.0, 113.22, 113.86, 92.93, 117.31, 57.59, 61.04, 67.78]], [75, "lost_success", null], [[75], "collision", [40.16]], [76, "success", null], [[76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [70.55, 120.36, 108.21, 131.59, 64.86, 249.14, 86.46, 51.69, 118.75, 84.29, 82.09, 94.82, 140.08, 113.06, 92.59, 121.04, 74.68, 27.43, 30.19, 67.13, 35.29, 32.41, 43.06, 63.97, 51.8, 171.89, 129.13, 100.75, 154.32, 136.22, 85.09, 63.46]], [108, "lost_success", null], [[108, 109], "collision", [51.11, 85.27]], [110, "success", null], [[110, 111, 112, 113], "collision", [40.49, 81.16, 88.03, 49.69]], [114, "lost_success", null], [116, "success", null], [122, "lost_success", null], [123, "success", null], [125, "lost_success", null], [126, "success", null], [155, "lost_success", null], [160, "success", null], [170, "lost_success", null], [181, "success", null], [189, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 904, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 25, + "task_plan_idx": 11, + "init_config_idx": 4, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 4, 5], "collision", [2447.7, 535.86, 426.62, 229.27]], [18, "contact", null], [19, "lost_contact", null], [[19], "collision", [5.02]], [20, "contact", null], [22, "lost_contact", null], [25, "contact", null], [27, "lost_contact", null], [36, "contact", null], [37, "lost_contact", null], [38, "contact", null], [39, "grasped", null], [65, "success", null], [92, "lost_success", null], [[92], "collision", [315.96]], [93, "success", null], [107, "lost_success", null], [111, "success", null], [141, "lost_success", null], [142, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 905, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 26, + "task_plan_idx": 17, + "init_config_idx": 16, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[8, "contact", null], [12, "grasped", null], [23, "success", null], [24, "lost_success", null], [29, "success", null], [47, "lost_success", null], [55, "success", null], [77, "lost_success", null], [86, "success", null], [96, "lost_success", null], [106, "success", null], [121, "lost_success", null], [178, "success", null], [182, "lost_success", null], [191, "success", null], [192, "lost_success", null], [193, "success", null], [194, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 906, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 7, + "init_config_idx": 28, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [[18, 23, 24, 25, 35], "collision", [3.04, 104.19, 319.8, 154.69, 4.81]], [37, "success", null], [[37, 38, 39, 40], "collision", [2.72, 3.95, 3.94, 0.72]], [41, "lost_success", null], [[41, 42, 43, 44, 45, 46], "collision", [3.54, 3.87, 3.96, 3.94, 3.94, 3.94]], [47, "success", null], [[47, 48, 49, 50, 51, 52, 53, 54, 55], "collision", [3.94, 3.94, 3.94, 3.95, 3.9, 3.95, 3.96, 3.94, 3.94]], [56, "lost_success", null], [[56], "collision", [3.98]], [57, "success", null], [[57, 58], "collision", [3.98, 3.96]], [59, "lost_success", null], [[59, 60, 61, 62, 63, 64, 65, 66, 67], "collision", [3.95, 3.94, 3.92, 3.96, 3.91, 3.94, 3.95, 3.95, 3.95]], [68, "success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [3.94, 3.95, 3.92, 3.9, 3.92, 3.91, 3.94, 3.95, 3.94, 3.96, 3.93]], [79, "lost_success", null], [[79, 80], "collision", [3.94, 3.9]], [81, "success", null], [[81, 82, 83, 84], "collision", [3.94, 3.95, 3.92, 3.96]], [85, "lost_success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [3.95, 3.94, 3.95, 3.94, 3.95, 3.94, 3.91, 3.95, 3.94, 3.94, 3.94, 3.95, 3.94, 3.94, 3.93, 3.96]], [101, "success", null], [[101, 102, 103, 104, 105, 106, 107, 108, 109], "collision", [3.95, 3.95, 3.91, 3.95, 3.94, 3.95, 3.95, 3.94, 3.94]], [110, "lost_success", null], [[110, 111, 112, 113, 114], "collision", [3.94, 3.95, 3.94, 3.95, 3.89]], [115, "success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [3.96, 3.94, 3.92, 3.92, 3.89, 3.9, 3.96, 3.95, 3.99, 3.96, 3.88, 3.94, 3.96, 3.92, 3.96, 3.94, 3.93, 3.82, 3.94, 3.94]], [135, "lost_success", null], [[135, 136, 137, 138, 139, 140], "collision", [3.93, 3.92, 3.94, 3.95, 3.95, 3.95]], [141, "success", null], [[141], "collision", [3.97]], [142, "lost_success", null], [[142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.92, 3.93, 3.93, 3.96, 3.98, 3.95, 3.95, 3.91, 3.9, 3.95, 3.94, 3.95, 3.97, 3.91, 3.91, 3.94, 3.94, 3.94, 3.96, 3.93, 3.95, 3.91, 3.94, 3.93, 3.95, 3.94, 3.95, 3.94, 3.95, 3.95, 3.94, 3.95, 3.94, 3.96, 3.94, 3.94, 3.94, 3.94, 3.94, 3.89, 3.93, 3.91, 3.94, 3.95, 3.95, 3.94, 3.94, 3.95, 3.94, 3.92, 3.95, 3.95, 3.95, 3.94, 3.93, 3.94, 3.87, 3.94]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 907, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 23, + "init_config_idx": 42, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [17, "grasped", null], [53, "success", null], [57, "lost_success", null], [146, "success", null], [148, "lost_success", null], [149, "success", null], [174, "lost_success", null], [185, "success", null], [191, "lost_success", null], [192, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 908, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 27, + "task_plan_idx": 58, + "init_config_idx": 4, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [421.18, 204.46, 178.14, 200.56, 339.0]], [12, "contact", null], [15, "grasped", null], [25, "success", null], [39, "lost_success", null], [40, "success", null], [46, "lost_success", null], [47, "success", null], [51, "lost_success", null], [52, "success", null], [55, "lost_success", null], [60, "success", null], [64, "lost_success", null], [67, "success", null], [70, "lost_success", null], [71, "success", null], [83, "lost_success", null], [[83], "collision", [34.77]], [84, "success", null], [[84], "collision", [33.95]], [85, "lost_success", null], [[85], "collision", [13.85]], [86, "success", null], [[86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127], "collision", [50.7, 52.12, 45.35, 75.98, 98.61, 80.1, 58.66, 50.17, 67.87, 80.52, 101.42, 81.32, 63.77, 58.03, 56.48, 43.07, 43.49, 47.41, 49.69, 52.86, 44.63, 33.6, 43.66, 39.97, 40.6, 42.87, 54.98, 157.78, 139.99, 161.22, 134.02, 114.89, 52.13, 49.95, 62.33, 67.34, 48.91, 69.76, 65.51, 63.75, 47.28, 48.12]], [128, "lost_success", null], [[128], "collision", [37.95]], [130, "success", null], [[130], "collision", [77.71]], [134, "lost_success", null], [138, "success", null], [139, "lost_success", null], [140, "success", null], [141, "lost_success", null], [142, "success", null], [146, "lost_success", null], [147, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [153, "success", null], [164, "lost_success", null], [171, "success", null], [181, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 909, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 12, + "init_config_idx": 7, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[19, 20, 21, 22], "collision", [1030.75, 583.95, 575.67, 404.45]], [32, "success", null], [33, "lost_success", null], [46, "success", null], [52, "lost_success", null], [60, "success", null], [75, "lost_success", null], [97, "success", null], [131, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 910, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 38, + "init_config_idx": 34, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[49, 50, 51, 52, 53], "collision", [116.84, 92.3, 79.19, 62.61, 59.7]], [54, "success", null], [[55], "collision", [19.67]], [57, "lost_success", null], [[57, 58, 59], "collision", [21.08, 95.38, 131.27]], [60, "success", null], [62, "lost_success", null], [78, "success", null], [79, "lost_success", null], [83, "success", null], [84, "lost_success", null], [85, "success", null], [86, "lost_success", null], [94, "success", null], [106, "lost_success", null], [[106, 107], "collision", [338.43, 292.41]], [108, "success", null], [[108, 109, 110], "collision", [209.42, 178.24, 145.46]], [111, "lost_success", null], [[111, 112, 113, 114, 115], "collision", [103.56, 100.84, 62.67, 45.76, 29.14]], [116, "success", null], [[116], "collision", [53.47]], [117, "lost_success", null], [[117, 118], "collision", [12.11, 12.34]], [121, "success", null], [[121, 137, 138, 139, 140, 141, 142, 143], "collision", [29.09, 76.29, 111.3, 87.28, 84.94, 66.53, 59.15, 69.86]], [144, "lost_success", null], [[144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154], "collision", [82.03, 90.1, 90.4, 81.5, 83.65, 79.09, 60.35, 49.6, 42.58, 23.31, 18.59]], [156, "success", null], [[156], "collision", [7.51]], [167, "lost_success", null], [[168, 169, 170, 171, 172, 173, 174], "collision", [65.08, 67.64, 76.05, 55.33, 29.59, 27.86, 47.8]], [175, "success", null], [[175, 176], "collision", [17.1, 7.73]], [192, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 911, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 29, + "task_plan_idx": 39, + "init_config_idx": 17, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "lost_contact", null], [25, "contact", null], [26, "lost_contact", null], [27, "contact", null], [27, "grasped", null], [[27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47], "collision", [3.98, 3.66, 2.4, 2.23, 1.88, 3.42, 2.36, 1.0, 1.47, 2.07, 2.52, 2.55, 2.55, 2.29, 3.05, 3.33, 3.47, 3.0, 3.17, 2.67, 2.92]], [48, "success", null], [[48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 60, 61, 62, 63], "collision", [2.62, 2.38, 2.2, 1.85, 1.76, 1.6, 1.26, 1.05, 0.87, 0.05, 0.12, 0.18, 0.26, 0.24]], [66, "lost_success", null], [[68, 69, 70, 71, 72, 73, 74, 75], "collision", [0.25, 0.35, 0.48, 0.85, 0.72, 0.86, 0.69, 0.98]], [76, "success", null], [[76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [0.8, 0.84, 0.81, 0.84, 0.77, 0.82, 0.53, 0.5, 0.34, 0.48, 0.28, 0.19, 0.24, 0.24, 0.35, 0.25, 0.29, 0.35, 0.42, 0.37, 0.46, 0.35, 0.45, 0.37, 0.65, 0.44, 0.44, 0.37, 0.38, 0.46, 0.44, 0.43, 0.45, 0.41, 0.38, 0.25, 0.28, 0.46, 0.29]], [115, "lost_success", null], [[115], "collision", [0.04]], [120, "success", null], [[120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130], "collision", [0.04, 0.23, 0.22, 0.33, 0.13, 0.31, 0.21, 0.19, 0.28, 0.42, 0.68]], [131, "lost_success", null], [[131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 147, 148, 149, 150, 151, 152, 153, 154, 155], "collision", [0.53, 0.5, 0.47, 0.34, 0.32, 0.43, 0.7, 0.79, 0.97, 0.86, 0.76, 0.58, 0.47, 0.06, 0.04, 0.42, 0.38, 0.48, 0.81, 0.64, 0.55, 0.57, 0.79]], [156, "success", null], [[156], "collision", [0.76]], [157, "lost_success", null], [[157, 158, 159], "collision", [0.76, 0.69, 0.65]], [160, "success", null], [[160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [0.65, 0.77, 0.72, 0.66, 0.69, 0.51, 0.35, 0.61, 0.99, 0.86]], [170, "lost_success", null], [[170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187], "collision", [0.83, 0.8, 0.75, 0.74, 0.72, 0.8, 0.84, 0.8, 0.84, 0.68, 0.71, 0.74, 0.71, 0.63, 0.67, 0.53, 0.63, 1.55]], [188, "success", null], [[188, 189, 190, 191], "collision", [1.08, 1.14, 0.77, 0.77]], [192, "lost_success", null], [[192, 193, 194, 195, 196, 197, 198], "collision", [1.02, 1.06, 0.92, 1.03, 1.1, 1.02, 1.19]], [199, "success", null], [[199], "collision", [1.06]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 912, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 15, + "init_config_idx": 15, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6, 7], "collision", [258.16, 2267.61, 560.96, 328.28, 146.95]], [11, "contact", null], [12, "grasped", null], [[16, 17, 18], "collision", [26.01, 298.24, 149.69]], [27, "success", null], [28, "lost_success", null], [29, "success", null], [39, "lost_success", null], [48, "success", null], [55, "lost_success", null], [60, "success", null], [85, "lost_success", null], [87, "success", null], [95, "lost_success", null], [99, "success", null], [105, "lost_success", null], [119, "success", null], [123, "lost_success", null], [174, "success", null], [176, "lost_success", null], [178, "success", null], [182, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 913, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 31, + "task_plan_idx": 11, + "init_config_idx": 34, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [25, "grasped", null], [[25, 26], "collision", [0.16, 4.09]], [48, "success", null], [51, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [[113, 114, 115], "collision", [43.82, 29.86, 8.73]], [127, "lost_success", null], [129, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 159, 161, 162, 163, 165, 180, 181, 182, 183, 184, 185, 186], "collision", [2.79, 14.82, 14.24, 15.52, 12.66, 6.04, 8.55, 13.29, 28.97, 12.8, 11.56, 21.62, 18.97, 15.54, 5.62, 8.5, 7.07, 7.14, 8.57, 4.82, 9.7, 4.25, 4.3, 13.01, 14.4, 12.64, 24.76, 11.15, 10.88, 2.2]], [188, "lost_success", null], [193, "success", null], [[196, 197, 198, 199], "collision", [41.33, 52.19, 71.31, 45.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 914, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 32, + "task_plan_idx": 12, + "init_config_idx": 6, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16], "collision", [193.04, 2240.45]], [19, "contact", null], [20, "lost_contact", null], [24, "contact", null], [25, "grasped", null], [46, "success", null], [52, "lost_success", null], [58, "success", null], [60, "lost_success", null], [74, "success", null], [113, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 915, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 48, + "init_config_idx": 22, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [45, "success", null], [47, "lost_success", null], [186, "success", null], [189, "lost_success", null], [190, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 916, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 33, + "task_plan_idx": 2, + "init_config_idx": 36, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 21], "collision", [755.5, 311.22]], [22, "contact", null], [23, "lost_contact", null], [24, "contact", null], [[24], "collision", [35.21]], [25, "grasped", null], [[30, 32], "collision", [76.75, 23.54]], [87, "success", null], [94, "lost_success", null], [104, "success", null], [105, "lost_success", null], [109, "success", null], [110, "lost_success", null], [124, "success", null], [125, "lost_success", null], [128, "success", null], [129, "lost_success", null], [131, "success", null], [134, "lost_success", null], [141, "success", null], [147, "lost_success", null], [149, "success", null], [162, "lost_success", null], [165, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 917, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 34, + "task_plan_idx": 43, + "init_config_idx": 21, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[36, 37, 38, 39, 40], "collision", [79.33, 95.17, 94.57, 93.91, 85.39]], [49, "success", null], [54, "lost_success", null], [69, "success", null], [78, "lost_success", null], [92, "success", null], [93, "lost_success", null], [96, "success", null], [102, "lost_success", null], [157, "success", null], [160, "lost_success", null], [161, "success", null], [169, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 918, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 35, + "task_plan_idx": 48, + "init_config_idx": 31, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 19, 20, 21, 23, 24], "collision", [557.34, 128.47, 138.63, 156.88, 381.53, 41.19]], [26, "contact", null], [[27], "collision", [0.7]], [29, "grasped", null], [59, "success", null], [60, "lost_success", null], [66, "success", null], [68, "lost_success", null], [70, "success", null], [[70], "collision", [137.14]], [71, "lost_success", null], [73, "success", null], [[74, 77, 78, 79, 80, 81, 82, 83, 85, 86], "collision", [272.46, 33.15, 108.47, 169.55, 135.31, 124.34, 114.68, 110.65, 0.79, 61.34]], [87, "lost_success", null], [[87], "collision", [80.73]], [88, "success", null], [[88, 89, 90, 91], "collision", [88.89, 77.44, 89.95, 25.43]], [92, "lost_success", null], [[92, 93], "collision", [46.76, 53.03]], [94, "success", null], [[94, 95], "collision", [0.09, 52.38]], [100, "lost_success", null], [102, "success", null], [112, "lost_success", null], [114, "success", null], [126, "lost_success", null], [127, "success", null], [128, "lost_success", null], [129, "success", null], [[141], "collision", [138.38]], [144, "lost_success", null], [145, "success", null], [[152, 153, 154, 155, 156, 157, 159, 160, 168, 169, 170, 171, 175, 176, 177], "collision", [220.7, 122.62, 94.03, 55.66, 74.94, 69.85, 18.38, 53.84, 141.62, 121.96, 80.05, 69.99, 241.22, 79.03, 52.13]], [190, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 919, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 1, + "init_config_idx": 4, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7], "collision", [488.96, 240.29, 171.05]], [11, "contact", null], [12, "lost_contact", null], [13, "contact", null], [13, "grasped", null], [30, "success", null], [32, "lost_success", null], [33, "success", null], [57, "lost_success", null], [64, "success", null], [96, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 920, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 24, + "init_config_idx": 8, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[26, 27, 28, 29, 30, 31, 32], "collision", [398.03, 95.0, 102.08, 102.16, 109.37, 120.5, 117.05]], [39, "success", null], [[65], "collision", [230.79]], [134, "lost_success", null], [135, "success", null], [136, "lost_success", null], [[143, 144, 145, 146, 147, 148, 149], "collision", [191.38, 39.46, 44.1, 43.64, 31.95, 36.43, 42.68]], [150, "success", null], [[150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 180, 185, 186, 190, 191, 192, 194, 195, 196, 197], "collision", [34.03, 33.41, 33.79, 31.4, 33.44, 39.87, 30.13, 33.79, 36.82, 39.31, 35.11, 38.23, 34.42, 24.26, 30.16, 37.43, 35.6, 31.67, 7.48, 30.66, 33.46, 28.33, 26.86, 27.5, 60.81, 30.25, 58.34, 20.74, 45.73, 41.06, 373.51, 12.45, 27.06, 27.31]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 921, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 36, + "task_plan_idx": 16, + "init_config_idx": 15, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "lost_contact", null], [28, "contact", null], [28, "grasped", null], [53, "success", null], [54, "lost_success", null], [55, "success", null], [73, "lost_success", null], [74, "success", null], [75, "lost_success", null], [76, "success", null], [78, "lost_success", null], [79, "success", null], [86, "lost_success", null], [111, "success", null], [117, "lost_success", null], [152, "success", null], [161, "lost_success", null], [176, "success", null], [180, "lost_success", null], [193, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 922, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 4, + "init_config_idx": 12, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 17, 18, 19, 20], "collision", [504.78, 640.1, 425.0, 244.17, 342.23, 421.3, 161.94, 206.55]], [21, "contact", null], [[21], "collision", [116.26]], [22, "grasped", null], [[34, 35, 36], "collision", [76.75, 83.86, 87.88]], [45, "success", null], [60, "lost_success", null], [80, "success", null], [83, "lost_success", null], [84, "success", null], [85, "lost_success", null], [97, "success", null], [100, "lost_success", null], [164, "success", null], [173, "lost_success", null], [176, "success", null], [183, "lost_success", null], [192, "success", null], [194, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 923, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 20, + "init_config_idx": 14, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [[21], "collision", [0.72]], [23, "grasped", null], [56, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [69, "success", null], [77, "lost_success", null], [89, "success", null], [96, "lost_success", null], [101, "success", null], [105, "lost_success", null], [126, "success", null], [130, "lost_success", null], [132, "success", null], [147, "lost_success", null], [148, "success", null], [149, "lost_success", null], [150, "success", null], [151, "lost_success", null], [152, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [168, "lost_success", null], [169, "success", null], [175, "lost_success", null], [176, "success", null], [179, "lost_success", null], [181, "success", null], [186, "lost_success", null], [188, "success", null], [190, "lost_success", null], [193, "success", null], [194, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 924, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 37, + "task_plan_idx": 12, + "init_config_idx": 1, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [12, "lost_contact", null], [13, "contact", null], [14, "lost_contact", null], [19, "contact", null], [20, "grasped", null], [38, "success", null], [52, "lost_success", null], [86, "success", null], [89, "lost_success", null], [179, "success", null], [190, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 925, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 38, + "task_plan_idx": 6, + "init_config_idx": 40, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [[23], "collision", [178.17]], [38, "success", null], [39, "lost_success", null], [40, "success", null], [43, "lost_success", null], [45, "success", null], [48, "lost_success", null], [49, "success", null], [73, "lost_success", null], [119, "success", null], [154, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 926, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 33, + "init_config_idx": 11, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [40, "success", null], [54, "lost_success", null], [57, "success", null], [66, "lost_success", null], [86, "success", null], [91, "lost_success", null], [96, "success", null], [110, "lost_success", null], [[183, 187, 188, 189, 190, 191, 192, 193, 194, 195, 197, 198, 199], "collision", [524.49, 41.15, 28.59, 54.17, 0.67, 29.0, 28.75, 55.6, 50.9, 14.4, 55.6, 43.05, 77.15]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 927, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 39, + "task_plan_idx": 26, + "init_config_idx": 9, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [22, "grasped", null], [[32, 33, 34, 35], "collision", [255.81, 91.68, 79.01, 75.16]], [43, "success", null], [46, "lost_success", null], [52, "success", null], [58, "lost_success", null], [89, "success", null], [92, "lost_success", null], [97, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [[106], "collision", [82.49]], [107, "success", null], [[107], "collision", [28.54]], [108, "lost_success", null], [[108, 109, 110, 111, 112, 113], "collision", [34.4, 27.3, 29.65, 20.03, 28.78, 27.5]], [114, "success", null], [[114, 115, 116, 117], "collision", [17.31, 19.36, 13.59, 15.63]], [118, "lost_success", null], [[120, 121], "collision", [73.39, 14.37]], [128, "success", null], [129, "lost_success", null], [134, "success", null], [135, "lost_success", null], [155, "success", null], [164, "lost_success", null], [165, "success", null], [168, "lost_success", null], [169, "success", null], [170, "lost_success", null], [172, "success", null], [174, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 928, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 40, + "task_plan_idx": 43, + "init_config_idx": 36, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[27, 28, 29], "collision", [135.63, 99.82, 80.78]], [37, "success", null], [41, "lost_success", null], [42, "success", null], [47, "lost_success", null], [62, "success", null], [64, "lost_success", null], [66, "success", null], [67, "lost_success", null], [151, "success", null], [152, "lost_success", null], [172, "success", null], [178, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 929, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 41, + "task_plan_idx": 37, + "init_config_idx": 15, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [242.27, 250.02, 102.65, 188.88]], [15, "contact", null], [15, "grasped", null], [[20], "collision", [477.0]], [30, "success", null], [31, "lost_success", null], [32, "success", null], [33, "lost_success", null], [36, "success", null], [45, "lost_success", null], [46, "success", null], [59, "lost_success", null], [63, "success", null], [72, "lost_success", null], [76, "success", null], [103, "lost_success", null], [105, "success", null], [112, "lost_success", null], [122, "success", null], [146, "lost_success", null], [147, "success", null], [148, "lost_success", null], [[186, 187], "collision", [303.08, 279.35]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 930, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 36, + "init_config_idx": 25, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9], "collision", [391.24, 235.89, 209.2, 178.49, 151.44]], [14, "contact", null], [17, "grasped", null], [[21], "collision", [58.37]], [31, "success", null], [36, "lost_success", null], [37, "success", null], [60, "lost_success", null], [66, "success", null], [99, "lost_success", null], [100, "success", null], [110, "lost_success", null], [165, "success", null], [177, "lost_success", null], [180, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 931, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 42, + "task_plan_idx": 44, + "init_config_idx": 38, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [38, "success", null], [45, "lost_success", null], [46, "success", null], [48, "lost_success", null], [50, "success", null], [55, "lost_success", null], [59, "success", null], [61, "lost_success", null], [62, "success", null], [108, "lost_success", null], [109, "success", null], [110, "lost_success", null], [122, "success", null], [130, "lost_success", null], [137, "success", null], [140, "lost_success", null], [174, "success", null], [175, "lost_success", null], [177, "success", null], [178, "lost_success", null], [179, "success", null], [181, "lost_success", null], [184, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 932, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 43, + "task_plan_idx": 15, + "init_config_idx": 36, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 15, 16], "collision", [596.52, 279.51, 265.77, 2021.48, 253.47]], [17, "contact", null], [[17], "collision", [1044.25]], [20, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [[24], "collision", [4.12]], [40, "success", null], [[47, 48, 49, 50], "collision", [2.66, 3.19, 2.11, 2.29]], [51, "lost_success", null], [69, "success", null], [85, "lost_success", null], [90, "success", null], [136, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 933, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 45, + "task_plan_idx": 57, + "init_config_idx": 25, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13], "collision", [286.42, 189.59, 171.15]], [18, "contact", null], [19, "lost_contact", null], [20, "contact", null], [21, "grasped", null], [[22, 24, 25, 26], "collision", [88.65, 52.74, 341.9, 77.05]], [47, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [60, "success", null], [68, "lost_success", null], [71, "success", null], [75, "lost_success", null], [76, "success", null], [82, "lost_success", null], [[84, 85], "collision", [51.47, 23.65]], [88, "success", null], [108, "lost_success", null], [110, "success", null], [120, "lost_success", null], [125, "success", null], [138, "lost_success", null], [142, "success", null], [167, "lost_success", null], [176, "success", null], [188, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 934, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 46, + "task_plan_idx": 57, + "init_config_idx": 54, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [19, "grasped", null], [36, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [56, "lost_success", null], [81, "success", null], [103, "lost_success", null], [110, "success", null], [124, "lost_success", null], [142, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 935, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 20, + "init_config_idx": 30, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[39, 40, 41, 42], "collision", [10.57, 312.91, 256.27, 646.67]], [43, "contact", null], [44, "lost_contact", null], [45, "contact", null], [46, "grasped", null], [[47, 48, 49, 50, 51, 52, 53], "collision", [343.49, 121.29, 125.74, 223.18, 236.76, 275.69, 407.0]], [66, "success", null], [67, "lost_success", null], [70, "success", null], [73, "lost_success", null], [74, "success", null], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [83, "success", null], [114, "lost_success", null], [115, "success", null], [118, "lost_success", null], [120, "success", null], [172, "lost_success", null], [173, "success", null], [176, "lost_success", null], [177, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 936, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 31, + "init_config_idx": 41, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16, 18, 19, 20, 21], "collision", [101.15, 199.18, 153.29, 160.67, 159.88, 985.0]], [28, "contact", null], [31, "grasped", null], [[31], "collision", [339.14]], [63, "success", null], [66, "lost_success", null], [73, "success", null], [76, "lost_success", null], [77, "success", null], [81, "lost_success", null], [93, "success", null], [95, "lost_success", null], [123, "success", null], [128, "lost_success", null], [129, "success", null], [130, "lost_success", null], [132, "success", null], [144, "lost_success", null], [146, "success", null], [147, "lost_success", null], [148, "success", null], [151, "lost_success", null], [156, "success", null], [157, "lost_success", null], [[158], "collision", [8.36]], [159, "success", null], [[159, 160], "collision", [40.7, 50.73]], [163, "lost_success", null], [166, "success", null], [170, "lost_success", null], [173, "success", null], [174, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 937, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 48, + "task_plan_idx": 4, + "init_config_idx": 37, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [33, "success", null], [36, "lost_success", null], [[71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [20.35, 13.38, 13.53, 13.41, 14.52, 15.03, 15.67, 14.22, 14.65, 13.39, 13.45, 10.26, 12.17, 12.37, 14.56, 15.73, 13.85, 13.41, 13.23, 11.09, 8.36, 13.74, 11.41, 13.24]], [95, "success", null], [97, "lost_success", null], [99, "success", null], [104, "lost_success", null], [[106, 107, 108, 109, 110], "collision", [33.82, 30.16, 28.04, 25.65, 34.54]], [111, "success", null], [[111, 112, 113, 114, 115, 116, 117], "collision", [30.49, 15.77, 13.55, 16.09, 13.01, 20.38, 33.66]], [118, "lost_success", null], [[118, 119], "collision", [37.9, 17.02]], [120, "success", null], [121, "lost_success", null], [[121, 122, 123, 124, 125, 126, 127, 129], "collision", [16.14, 15.26, 14.78, 16.23, 14.09, 14.1, 12.78, 7.1]], [130, "success", null], [133, "lost_success", null], [134, "success", null], [139, "lost_success", null], [141, "success", null], [145, "lost_success", null], [153, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 938, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 49, + "task_plan_idx": 49, + "init_config_idx": 22, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[23, 24], "collision", [0.36, 0.81]], [28, "contact", null], [28, "grasped", null], [80, "success", null], [89, "lost_success", null], [90, "success", null], [95, "lost_success", null], [98, "success", null], [99, "lost_success", null], [100, "success", null], [101, "lost_success", null], [122, "success", null], [142, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 939, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 17, + "init_config_idx": 24, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[1, 3], "collision", [140.9, 81.01]], [14, "contact", null], [16, "lost_contact", null], [17, "contact", null], [[18], "collision", [1438.66]], [21, "grasped", null], [[26, 27], "collision", [301.5, 216.53]], [47, "success", null], [50, "lost_success", null], [51, "success", null], [59, "lost_success", null], [[59, 60], "collision", [139.69, 133.3]], [61, "success", null], [[61], "collision", [128.72]], [62, "lost_success", null], [[62], "collision", [94.53]], [63, "success", null], [[63, 64, 65, 66, 67, 68, 69], "collision", [93.24, 104.64, 99.16, 99.08, 101.9, 106.6, 105.8]], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [85, "success", null], [93, "lost_success", null], [105, "success", null], [122, "lost_success", null], [128, "success", null], [150, "lost_success", null], [162, "success", null], [168, "lost_success", null], [171, "success", null], [172, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 940, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 50, + "task_plan_idx": 18, + "init_config_idx": 52, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [40, "success", null], [49, "lost_success", null], [50, "success", null], [67, "lost_success", null], [69, "success", null], [[70, 71, 72, 73, 75], "collision", [40.03, 107.13, 20.69, 74.43, 3.77]], [107, "lost_success", null], [114, "success", null], [119, "lost_success", null], [120, "success", null], [[121, 122, 123, 124, 125, 126, 127, 128, 129], "collision", [32.23, 29.6, 31.15, 35.84, 34.29, 33.59, 29.51, 6.03, 16.75]], [130, "lost_success", null], [[130, 131], "collision", [37.69, 32.13]], [132, "success", null], [[132, 133], "collision", [31.34, 21.72]], [134, "lost_success", null], [[134, 135, 136, 137, 138, 139, 140, 141], "collision", [31.16, 43.95, 43.63, 40.06, 47.57, 32.73, 31.64, 23.84]], [142, "success", null], [[142, 143, 144], "collision", [24.73, 17.69, 10.1]], [145, "lost_success", null], [[152, 153], "collision", [29.66, 29.03]], [154, "success", null], [[154, 155, 156, 157, 158, 159, 160, 161, 162], "collision", [50.69, 48.64, 25.51, 18.17, 1.23, 11.39, 3.5, 15.82, 4.46]], [197, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 941, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 48, + "init_config_idx": 26, + "spawn_selection_idx": 99, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [776.6]], [20, "contact", null], [[20], "collision", [47.32]], [21, "grasped", null], [100, "success", null], [133, "lost_success", null], [135, "success", null], [140, "lost_success", null], [147, "success", null], [150, "lost_success", null], [151, "success", null], [154, "lost_success", null], [155, "success", null], [[155], "collision", [39.96]], [156, "lost_success", null], [[156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168], "collision", [75.12, 96.56, 109.64, 102.13, 53.14, 54.16, 43.34, 27.56, 64.41, 78.16, 73.9, 27.26, 18.81]], [173, "success", null], [196, "lost_success", null], [197, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 942, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 51, + "task_plan_idx": 37, + "init_config_idx": 25, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 15, 16], "collision", [161.36, 399.99, 393.01]], [19, "contact", null], [[19], "collision", [1.28]], [20, "grasped", null], [[32, 33, 34], "collision", [36.51, 29.42, 34.05]], [44, "success", null], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [54, "lost_success", null], [55, "success", null], [68, "lost_success", null], [128, "success", null], [129, "lost_success", null], [130, "success", null], [132, "lost_success", null], [134, "success", null], [178, "lost_success", null], [180, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 943, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 36, + "init_config_idx": 8, + "spawn_selection_idx": 41, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [256.37]], [18, "contact", null], [18, "grasped", null], [34, "success", null], [35, "lost_success", null], [56, "success", null], [72, "lost_success", null], [73, "success", null], [76, "lost_success", null], [95, "success", null], [99, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 944, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 52, + "task_plan_idx": 8, + "init_config_idx": 35, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17, 25], "collision", [750.69, 213.58, 202.67, 4.0]], [26, "contact", null], [27, "grasped", null], [[33, 34], "collision", [49.37, 40.97]], [46, "success", null], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [69, "success", null], [75, "lost_success", null], [76, "success", null], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [83, "success", null], [86, "lost_success", null], [88, "success", null], [98, "lost_success", null], [103, "success", null], [151, "lost_success", null], [159, "success", null], [165, "lost_success", null], [166, "success", null], [173, "lost_success", null], [174, "success", null], [177, "lost_success", null], [190, "success", null], [192, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 945, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 37, + "init_config_idx": 2, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [[21], "collision", [5.65]], [22, "grasped", null], [[26, 27, 28, 29, 30, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [669.18, 427.45, 160.71, 1.17, 40.18, 563.05, 188.99, 122.9, 55.74, 122.9, 70.78, 84.94, 98.88, 96.84, 107.16, 102.85, 96.72, 93.12, 90.19]], [50, "success", null], [76, "lost_success", null], [77, "success", null], [78, "lost_success", null], [83, "success", null], [[84, 87, 89, 90, 91, 93, 94, 95], "collision", [1044.34, 177.25, 94.97, 78.04, 74.28, 97.79, 68.97, 76.06]], [105, "lost_success", null], [107, "success", null], [108, "lost_success", null], [112, "success", null], [114, "lost_success", null], [199, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 946, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 53, + "task_plan_idx": 8, + "init_config_idx": 26, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [[13], "collision", [11.59]], [14, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 26, 27, 28], "collision", [0.77, 0.78, 1.29, 0.49, 0.45, 0.42, 0.29, 0.06, 0.02, 0.06]], [29, "success", null], [[29, 30, 31, 32, 33], "collision", [0.1, 0.3, 0.34, 0.29, 0.37]], [34, "lost_success", null], [[34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67], "collision", [0.35, 0.3, 0.39, 0.47, 0.5, 0.47, 0.4, 0.36, 0.43, 0.48, 0.46, 0.41, 0.46, 0.34, 0.33, 0.33, 0.35, 0.42, 0.36, 0.37, 0.43, 0.45, 0.45, 0.33, 0.44, 0.39, 0.5, 0.47, 0.47, 0.47, 0.96, 1.26, 1.28, 0.59]], [68, "success", null], [[68, 69], "collision", [69.29, 49.47]], [70, "lost_success", null], [[70, 71], "collision", [56.57, 47.72]], [72, "success", null], [[72, 73, 74], "collision", [37.31, 42.06, 50.78]], [75, "lost_success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84], "collision", [50.62, 41.3, 42.52, 50.88, 46.68, 44.89, 40.03, 41.25, 48.74, 38.46]], [85, "success", null], [[85, 86, 87, 88, 89, 90], "collision", [39.54, 41.17, 44.16, 43.01, 42.81, 58.06]], [91, "lost_success", null], [[91, 92, 93, 94, 95, 96, 97], "collision", [53.44, 44.55, 50.31, 50.46, 51.29, 50.14, 49.06]], [98, "success", null], [[98, 99, 100, 101, 102], "collision", [37.21, 35.95, 34.45, 21.16, 10.84]], [103, "lost_success", null], [[103], "collision", [0.83]], [104, "success", null], [[104], "collision", [0.91]], [105, "lost_success", null], [[105], "collision", [0.96]], [106, "success", null], [[106, 107, 108, 109, 110, 111, 112, 113], "collision", [1.04, 0.9, 40.02, 0.81, 0.89, 0.86, 0.74, 0.51]], [114, "lost_success", null], [[114], "collision", [0.41]], [115, "success", null], [[115], "collision", [0.44]], [116, "lost_success", null], [[116], "collision", [0.45]], [117, "success", null], [[117], "collision", [0.49]], [118, "lost_success", null], [[118], "collision", [0.4]], [119, "success", null], [[119], "collision", [0.43]], [120, "lost_success", null], [[120], "collision", [0.42]], [121, "success", null], [[121], "collision", [0.49]], [122, "lost_success", null], [[122], "collision", [0.56]], [123, "success", null], [[123, 124], "collision", [0.52, 0.46]], [125, "lost_success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [0.47, 0.53, 0.43, 0.36, 0.39, 0.46, 0.43, 0.47, 0.44, 0.45, 0.46, 0.43, 0.53]], [138, "success", null], [[138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "collision", [0.56, 0.45, 0.4, 0.4, 0.4, 0.28, 0.32, 0.3, 0.33, 0.43, 0.41, 0.31, 0.37, 0.43, 0.61, 0.5, 0.48, 0.44, 0.42, 0.43, 0.44]], [159, "lost_success", null], [[159], "collision", [0.48]], [160, "success", null], [[160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [0.59, 0.45, 0.6, 0.42, 0.48, 0.64, 0.4, 0.43, 0.43, 0.46, 0.44, 0.45, 0.4, 0.47, 0.43]], [175, "lost_success", null], [[175], "collision", [0.36]], [176, "success", null], [[176, 177, 178, 179], "collision", [0.38, 0.35, 0.39, 0.42]], [180, "lost_success", null], [[180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.47, 0.44, 0.45, 0.54, 0.48, 0.39, 0.38, 0.44, 0.43, 0.46, 0.48, 0.45, 0.43, 0.43, 0.49, 0.56, 0.5, 0.51, 0.47, 0.42]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 947, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 54, + "task_plan_idx": 18, + "init_config_idx": 35, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8], "collision", [3038.44, 302.87]], [17, "contact", null], [[17, 18], "collision", [434.79, 6.83]], [19, "lost_contact", null], [22, "contact", null], [23, "lost_contact", null], [25, "contact", null], [27, "grasped", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [55, "lost_success", null], [58, "success", null], [66, "lost_success", null], [69, "success", null], [73, "lost_success", null], [75, "success", null], [76, "lost_success", null], [77, "success", null], [91, "lost_success", null], [106, "success", null], [126, "lost_success", null], [148, "success", null], [156, "lost_success", null], [157, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 948, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 14, + "init_config_idx": 43, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [41, "success", null], [43, "lost_success", null], [178, "success", null], [190, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 949, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 55, + "task_plan_idx": 7, + "init_config_idx": 1, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [515.12, 454.03, 216.41]], [14, "contact", null], [15, "grasped", null], [[18, 19, 20], "collision", [356.56, 336.72, 57.62]], [32, "success", null], [34, "lost_success", null], [35, "success", null], [37, "lost_success", null], [38, "success", null], [41, "lost_success", null], [42, "success", null], [46, "lost_success", null], [50, "success", null], [52, "lost_success", null], [54, "success", null], [56, "lost_success", null], [57, "success", null], [58, "lost_success", null], [64, "success", null], [76, "lost_success", null], [77, "success", null], [82, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [90, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 950, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 56, + "task_plan_idx": 18, + "init_config_idx": 38, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 21], "collision", [260.27, 164.99, 1539.74]], [22, "contact", null], [26, "lost_contact", null], [28, "contact", null], [29, "grasped", null], [52, "success", null], [58, "lost_success", null], [90, "success", null], [94, "lost_success", null], [143, "success", null], [166, "lost_success", null], [167, "success", null], [168, "lost_success", null], [171, "success", null], [173, "lost_success", null], [174, "success", null], [199, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 951, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 57, + "task_plan_idx": 15, + "init_config_idx": 28, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [221.94, 165.52, 144.06]], [13, "contact", null], [14, "grasped", null], [32, "success", null], [33, "lost_success", null], [36, "success", null], [37, "lost_success", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [42, "lost_success", null], [45, "success", null], [53, "lost_success", null], [54, "success", null], [65, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [79, "success", null], [80, "lost_success", null], [83, "success", null], [88, "lost_success", null], [92, "success", null], [94, "lost_success", null], [97, "success", null], [99, "lost_success", null], [101, "success", null], [107, "lost_success", null], [111, "success", null], [113, "lost_success", null], [116, "success", null], [117, "lost_success", null], [119, "success", null], [133, "lost_success", null], [134, "success", null], [137, "lost_success", null], [138, "success", null], [140, "lost_success", null], [141, "success", null], [150, "lost_success", null], [156, "success", null], [163, "lost_success", null], [164, "success", null], [166, "lost_success", null], [167, "success", null], [172, "lost_success", null], [174, "success", null], [177, "lost_success", null], [178, "success", null], [179, "lost_success", null], [180, "success", null], [184, "lost_success", null], [186, "success", null], [187, "lost_success", null], [192, "success", null], [195, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 952, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 58, + "task_plan_idx": 28, + "init_config_idx": 58, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [23, "grasped", null], [47, "success", null], [54, "lost_success", null], [71, "success", null], [110, "lost_success", null], [111, "success", null], [129, "lost_success", null], [[186, 187, 188, 189, 190, 191, 192, 193, 194], "collision", [44.1, 35.03, 34.9, 40.02, 31.86, 33.48, 27.35, 29.22, 26.22]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 953, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 59, + "task_plan_idx": 33, + "init_config_idx": 46, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[31, 32, 33, 34, 35, 36, 37], "collision", [82.09, 116.63, 98.57, 88.56, 85.1, 83.0, 103.26]], [44, "success", null], [78, "lost_success", null], [99, "success", null], [101, "lost_success", null], [[110, 111, 112, 113, 114, 115, 116, 117, 118], "collision", [81.53, 36.85, 36.15, 27.16, 32.86, 30.35, 38.12, 30.3, 23.42]], [123, "success", null], [126, "lost_success", null], [127, "success", null], [128, "lost_success", null], [129, "success", null], [137, "lost_success", null], [155, "success", null], [174, "lost_success", null], [175, "success", null], [179, "lost_success", null], [183, "success", null], [191, "lost_success", null], [198, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 954, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 1, + "init_config_idx": 31, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [15, "lost_contact", null], [16, "contact", null], [16, "grasped", null], [29, "success", null], [36, "lost_success", null], [37, "success", null], [38, "lost_success", null], [39, "success", null], [40, "lost_success", null], [41, "success", null], [48, "lost_success", null], [49, "success", null], [55, "lost_success", null], [56, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [72, "success", null], [84, "lost_success", null], [86, "success", null], [92, "lost_success", null], [93, "success", null], [94, "lost_success", null], [96, "success", null], [[102, 103, 104, 105], "collision", [0.17, 0.15, 0.11, 0.06]], [106, "lost_success", null], [109, "success", null], [[113, 114, 115, 116, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 154, 155, 156, 157, 158, 159], "collision", [0.04, 0.05, 0.05, 0.05, 0.04, 0.03, 0.03, 0.04, 0.04, 0.03, 0.03, 0.03, 0.02, 0.02, 0.02, 0.03, 0.03, 0.03, 0.03, 0.01, 0.02, 0.0, 0.01, 0.01, 0.03, 0.03, 0.03, 0.02, 0.01, 0.01]], [176, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 955, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 60, + "task_plan_idx": 5, + "init_config_idx": 17, + "spawn_selection_idx": 41, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [15, "lost_contact", null], [20, "contact", null], [22, "grasped", null], [37, "success", null], [43, "lost_success", null], [44, "success", null], [48, "lost_success", null], [55, "success", null], [56, "lost_success", null], [59, "success", null], [67, "lost_success", null], [70, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [270.22, 87.81, 71.27, 28.74, 77.84, 254.29, 212.63, 143.59, 188.56, 203.27, 205.96, 260.51, 123.78, 86.26, 126.95, 79.58, 49.17]], [101, "lost_success", null], [103, "success", null], [134, "lost_success", null], [137, "success", null], [140, "lost_success", null], [143, "success", null], [146, "lost_success", null], [184, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 956, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 13, + "init_config_idx": 30, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [50, "success", null], [55, "lost_success", null], [56, "success", null], [58, "lost_success", null], [63, "success", null], [69, "lost_success", null], [72, "success", null], [101, "lost_success", null], [113, "success", null], [129, "lost_success", null], [133, "success", null], [150, "lost_success", null], [160, "success", null], [166, "lost_success", null], [170, "success", null], [172, "lost_success", null], [173, "success", null], [175, "lost_success", null], [192, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 957, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 61, + "task_plan_idx": 26, + "init_config_idx": 24, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [698.58, 94.15]], [15, "contact", null], [15, "grasped", null], [25, "success", null], [48, "lost_success", null], [49, "success", null], [52, "lost_success", null], [54, "success", null], [65, "lost_success", null], [73, "success", null], [99, "lost_success", null], [111, "success", null], [117, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 958, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 57, + "init_config_idx": 27, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 15, 16, 17], "collision", [408.43, 394.97, 225.61, 209.53]], [21, "contact", null], [22, "grasped", null], [40, "success", null], [41, "lost_success", null], [46, "success", null], [51, "lost_success", null], [52, "success", null], [56, "lost_success", null], [60, "success", null], [61, "lost_success", null], [63, "success", null], [68, "lost_success", null], [95, "success", null], [102, "lost_success", null], [106, "success", null], [107, "lost_success", null], [153, "success", null], [170, "lost_success", null], [171, "success", null], [172, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 959, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 62, + "task_plan_idx": 8, + "init_config_idx": 38, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [11, "lost_contact", null], [12, "contact", null], [12, "grasped", null], [26, "success", null], [33, "lost_success", null], [40, "success", null], [41, "lost_success", null], [48, "success", null], [49, "lost_success", null], [50, "success", null], [57, "lost_success", null], [58, "success", null], [63, "lost_success", null], [64, "success", null], [72, "lost_success", null], [[81, 82, 83, 84, 88, 89, 92, 105, 106, 107, 108, 111], "collision", [38.19, 53.58, 59.71, 74.82, 22.48, 28.62, 35.64, 34.79, 19.92, 49.38, 43.33, 50.32]], [112, "success", null], [[112, 113], "collision", [119.31, 172.35]], [114, "lost_success", null], [[114], "collision", [115.12]], [115, "success", null], [[115, 116, 117], "collision", [118.75, 79.26, 20.7]], [119, "lost_success", null], [120, "success", null], [[122], "collision", [185.15]], [123, "lost_success", null], [124, "success", null], [[124], "collision", [63.1]], [131, "lost_success", null], [133, "success", null], [139, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 960, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 8, + "init_config_idx": 46, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [441.39, 286.5, 323.47]], [16, "contact", null], [18, "lost_contact", null], [21, "contact", null], [21, "grasped", null], [[21], "collision", [2.14]], [32, "success", null], [[39, 43, 44, 45, 46, 47], "collision", [0.2, 0.14, 0.17, 0.08, 0.16, 0.13]], [57, "lost_success", null], [58, "success", null], [64, "lost_success", null], [[65], "collision", [1.01]], [66, "success", null], [67, "lost_success", null], [[67, 68], "collision", [2.46, 1.55]], [70, "success", null], [[70], "collision", [2.25]], [71, "lost_success", null], [[71, 72, 73], "collision", [1.51, 0.54, 0.72]], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81], "collision", [0.87, 0.78, 0.85, 0.64, 0.93, 0.77, 0.48, 0.71]], [83, "lost_success", null], [93, "success", null], [99, "lost_success", null], [102, "success", null], [120, "lost_success", null], [[122, 123, 124], "collision", [0.09, 0.36, 0.39]], [125, "success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 149, 150, 151, 153, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.23, 0.31, 0.35, 0.54, 0.71, 0.88, 0.75, 0.71, 0.55, 0.39, 0.41, 0.36, 0.44, 0.3, 0.3, 0.36, 0.27, 0.34, 0.3, 0.45, 0.41, 0.41, 0.26, 0.35, 0.01, 0.16, 0.1, 0.3, 0.23, 0.29, 0.25, 0.25, 0.39, 0.37, 0.28, 0.23, 0.27, 0.26, 0.3, 0.28, 0.37, 0.36, 0.34, 0.39, 0.27, 0.35, 0.3, 0.31, 0.3, 0.36, 0.32, 0.34, 0.41, 0.3, 0.34, 0.29, 0.25, 0.33, 0.25, 0.32, 0.44, 0.41, 0.45, 0.37, 0.53, 0.26, 0.23, 0.31, 0.24, 0.25]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 961, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 51, + "init_config_idx": 33, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [843.42]], [19, "contact", null], [21, "grasped", null], [[28], "collision", [336.32]], [38, "success", null], [[50], "collision", [1.58]], [54, "lost_success", null], [60, "success", null], [94, "lost_success", null], [100, "success", null], [101, "lost_success", null], [102, "success", null], [104, "lost_success", null], [105, "success", null], [124, "lost_success", null], [125, "success", null], [172, "lost_success", null], [174, "success", null], [184, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 962, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 63, + "task_plan_idx": 23, + "init_config_idx": 43, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21, 22, 23, 24], "collision", [172.72, 8.78, 12.51, 138.97]], [25, "contact", null], [[25], "collision", [145.84]], [26, "lost_contact", null], [[26], "collision", [114.75]], [27, "contact", null], [27, "grasped", null], [[27], "collision", [5.76]], [47, "success", null], [[47, 48, 49, 50, 51, 52], "collision", [48.35, 1.32, 3.7, 4.03, 3.8, 4.03]], [53, "lost_success", null], [[53, 54, 55, 56, 57, 58, 59, 60], "collision", [3.94, 3.95, 3.93, 3.97, 3.97, 3.97, 3.92, 3.93]], [61, "success", null], [[61], "collision", [3.96]], [62, "lost_success", null], [[62], "collision", [3.95]], [63, "success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83], "collision", [3.92, 3.93, 3.92, 3.93, 3.95, 3.93, 3.92, 3.95, 3.91, 3.93, 3.92, 3.91, 3.95, 3.95, 3.92, 3.95, 3.96, 3.92, 3.93, 3.93, 3.96]], [84, "lost_success", null], [[84, 85, 86, 87], "collision", [3.93, 3.94, 3.96, 3.93]], [88, "success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97], "collision", [3.92, 3.95, 3.93, 3.92, 3.95, 3.95, 3.93, 3.92, 3.95, 3.92]], [98, "lost_success", null], [[98, 99], "collision", [3.93, 3.94]], [100, "success", null], [[100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114], "collision", [3.93, 3.93, 3.94, 3.94, 3.94, 3.94, 3.93, 3.92, 3.94, 3.93, 4.0, 3.86, 3.97, 3.94, 3.93]], [115, "lost_success", null], [[115, 116, 117], "collision", [3.93, 3.94, 3.96]], [118, "success", null], [[118, 119, 120, 121, 122, 123], "collision", [3.94, 3.94, 3.94, 3.94, 3.94, 3.94]], [124, "lost_success", null], [[124, 125, 126, 127, 128, 129], "collision", [3.93, 3.94, 3.94, 3.94, 3.94, 3.94]], [130, "success", null], [[130], "collision", [3.93]], [131, "lost_success", null], [[131, 132, 133], "collision", [3.93, 3.94, 3.94]], [134, "success", null], [[134, 135, 136, 137, 138, 139, 140], "collision", [3.94, 3.94, 3.94, 3.93, 3.94, 3.94, 3.94]], [141, "lost_success", null], [[141, 142, 143, 144, 145, 146, 147, 148, 149, 150], "collision", [3.94, 3.93, 3.94, 3.93, 3.94, 3.95, 3.93, 3.93, 3.94, 3.94]], [151, "success", null], [[151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192], "collision", [3.93, 3.94, 3.94, 3.93, 3.94, 3.93, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.93, 3.93, 3.94, 3.94, 3.94, 3.93, 3.91, 3.94, 3.93, 3.94, 3.94, 3.94, 3.94, 3.93, 3.93, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.93]], [193, "lost_success", null], [[193, 194, 195, 196, 197, 198], "collision", [3.94, 3.94, 3.94, 3.94, 3.94, 3.95]], [199, "success", null], [[199], "collision", [3.94]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 963, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 64, + "task_plan_idx": 39, + "init_config_idx": 33, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [36, "success", null], [52, "lost_success", null], [53, "success", null], [56, "lost_success", null], [58, "success", null], [100, "lost_success", null], [116, "success", null], [156, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [167, "lost_success", null], [168, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 964, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 8, + "init_config_idx": 38, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 15], "collision", [520.09, 205.44, 64.69, 202.19, 5.69]], [18, "contact", null], [18, "grasped", null], [[20, 21, 26, 27], "collision", [2.95, 1.16, 449.42, 129.24]], [34, "success", null], [46, "lost_success", null], [52, "success", null], [66, "lost_success", null], [72, "success", null], [85, "lost_success", null], [87, "success", null], [127, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 965, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 65, + "task_plan_idx": 19, + "init_config_idx": 11, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[29], "collision", [33.92]], [40, "success", null], [42, "lost_success", null], [44, "success", null], [53, "lost_success", null], [54, "success", null], [84, "lost_success", null], [94, "success", null], [101, "lost_success", null], [106, "success", null], [109, "lost_success", null], [119, "success", null], [121, "lost_success", null], [[192, 193, 194, 195, 196, 197, 198, 199], "collision", [1541.51, 376.11, 258.96, 192.18, 118.55, 194.49, 143.13, 156.26]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 966, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 31, + "init_config_idx": 18, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [32, "success", null], [35, "lost_success", null], [37, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [49, "success", null], [54, "lost_success", null], [58, "success", null], [61, "lost_success", null], [73, "success", null], [80, "lost_success", null], [[101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129], "collision", [100.45, 31.98, 29.67, 31.91, 30.26, 32.67, 31.53, 30.94, 27.03, 33.88, 22.57, 27.25, 23.61, 28.54, 32.5, 22.36, 22.59, 31.6, 27.62, 27.46, 111.46, 27.22, 18.9, 22.88, 35.55, 97.0, 137.8, 53.43, 84.2]], [130, "success", null], [[130], "collision", [200.34]], [131, "lost_success", null], [[131, 132, 134, 135, 136, 137], "collision", [143.29, 62.22, 17.41, 21.95, 24.6, 25.2]], [138, "success", null], [[138, 139, 141, 142, 143, 144], "collision", [21.4, 8.12, 256.39, 190.37, 128.4, 158.6]], [145, "lost_success", null], [[145], "collision", [271.37]], [146, "success", null], [[146, 147, 148, 149, 150, 151], "collision", [81.69, 106.08, 55.95, 183.62, 147.67, 111.18]], [156, "lost_success", null], [157, "success", null], [160, "lost_success", null], [167, "success", null], [168, "lost_success", null], [184, "success", null], [189, "lost_success", null], [197, "success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 967, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 44, + "init_config_idx": 9, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [546.17]], [12, "contact", null], [13, "grasped", null], [35, "success", null], [60, "lost_success", null], [69, "success", null], [95, "lost_success", null], [115, "success", null], [117, "lost_success", null], [128, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 968, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 66, + "task_plan_idx": 35, + "init_config_idx": 1, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[26], "collision", [65.58]], [39, "success", null], [48, "lost_success", null], [49, "success", null], [55, "lost_success", null], [68, "success", null], [151, "lost_success", null], [164, "success", null], [166, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 969, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 67, + "task_plan_idx": 27, + "init_config_idx": 5, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [481.54, 180.79, 207.38, 61.17, 119.47]], [13, "contact", null], [13, "grasped", null], [[16, 17, 18, 19], "collision", [177.39, 277.24, 273.66, 302.43]], [31, "success", null], [34, "lost_success", null], [35, "success", null], [40, "lost_success", null], [45, "success", null], [58, "lost_success", null], [65, "success", null], [98, "lost_success", null], [167, "success", null], [174, "lost_success", null], [175, "success", null], [177, "lost_success", null], [184, "success", null], [187, "lost_success", null], [189, "success", null], [194, "lost_success", null], [195, "success", null], [198, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 970, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 68, + "task_plan_idx": 44, + "init_config_idx": 38, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [[48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63], "collision", [13.62, 128.83, 40.0, 34.96, 32.37, 40.39, 29.6, 27.2, 25.9, 23.9, 13.65, 3.23, 16.01, 13.06, 3.59, 32.98]], [64, "success", null], [[64, 65], "collision", [9.83, 26.02]], [66, "lost_success", null], [[66], "collision", [22.5]], [67, "success", null], [[67, 68, 69, 70], "collision", [18.64, 23.13, 20.53, 14.83]], [83, "lost_success", null], [86, "success", null], [96, "lost_success", null], [97, "success", null], [101, "lost_success", null], [102, "success", null], [115, "lost_success", null], [116, "success", null], [119, "lost_success", null], [120, "success", null], [123, "lost_success", null], [124, "success", null], [128, "lost_success", null], [140, "success", null], [160, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 971, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 6, + "task_plan_idx": 31, + "init_config_idx": 43, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [22, "lost_contact", null], [23, "contact", null], [24, "grasped", null], [45, "success", null], [48, "lost_success", null], [54, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null], [75, "lost_success", null], [[76], "collision", [41.29]], [77, "success", null], [[77, 78], "collision", [50.74, 41.22]], [83, "lost_success", null], [84, "success", null], [87, "lost_success", null], [93, "success", null], [96, "lost_success", null], [97, "success", null], [109, "lost_success", null], [112, "success", null], [133, "lost_success", null], [134, "success", null], [156, "lost_success", null], [157, "success", null], [160, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 972, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 9, + "init_config_idx": 18, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[29, 30, 31, 32, 33], "collision", [106.13, 83.99, 97.65, 101.78, 84.1]], [42, "success", null], [48, "lost_success", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [54, "lost_success", null], [56, "success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98], "collision", [7.34, 8.35, 8.47, 7.95, 6.76, 7.17, 5.8, 6.29, 6.41, 5.44, 5.77, 5.6, 6.01, 6.98, 7.35, 8.23]], [99, "lost_success", null], [[99, 100, 101, 102, 103, 104, 105, 107, 108, 109, 110, 111], "collision", [7.81, 7.7, 6.92, 7.53, 7.32, 7.45, 6.67, 10.83, 14.6, 16.1, 10.32, 11.94]], [112, "success", null], [[112, 113, 114, 115], "collision", [9.34, 6.18, 13.1, 8.42]], [116, "lost_success", null], [[116], "collision", [11.12]], [117, "success", null], [[117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128], "collision", [8.21, 10.9, 9.89, 8.24, 7.85, 12.29, 13.57, 9.71, 9.31, 11.64, 8.02, 10.45]], [129, "lost_success", null], [[129, 130, 131, 132, 133], "collision", [14.33, 12.44, 9.77, 6.15, 7.27]], [134, "success", null], [[134], "collision", [5.44]], [135, "lost_success", null], [136, "success", null], [145, "lost_success", null], [147, "success", null], [160, "lost_success", null], [162, "success", null], [167, "lost_success", null], [170, "success", null], [171, "lost_success", null], [173, "success", null], [174, "lost_success", null], [180, "success", null], [182, "lost_success", null], [183, "success", null], [187, "lost_success", null], [188, "success", null], [195, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 973, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 7, + "task_plan_idx": 28, + "init_config_idx": 6, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [31, "success", null], [33, "lost_success", null], [36, "success", null], [38, "lost_success", null], [39, "success", null], [51, "lost_success", null], [52, "success", null], [[52, 53, 54, 55], "collision", [39.52, 56.66, 29.09, 27.09]], [56, "lost_success", null], [[56, 57, 58, 59, 61, 62], "collision", [29.71, 26.26, 25.66, 6.75, 24.27, 16.57]], [63, "success", null], [[63, 64, 65, 66], "collision", [32.11, 49.02, 55.17, 37.68]], [67, "lost_success", null], [[67], "collision", [41.69]], [68, "success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 88], "collision", [40.65, 49.79, 46.17, 47.54, 53.74, 57.36, 64.21, 52.78, 53.87, 58.55, 39.26, 45.31, 44.08, 41.29, 40.28, 36.89, 21.86, 17.62, 16.16]], [96, "lost_success", null], [97, "success", null], [101, "lost_success", null], [107, "success", null], [129, "lost_success", null], [136, "success", null], [148, "lost_success", null], [149, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 974, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 20, + "init_config_idx": 4, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [35, "success", null], [53, "lost_success", null], [54, "success", null], [62, "lost_success", null], [87, "success", null], [89, "lost_success", null], [101, "success", null], [103, "lost_success", null], [105, "success", null], [108, "lost_success", null], [132, "success", null], [137, "lost_success", null], [149, "success", null], [161, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 975, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 45, + "init_config_idx": 2, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[21, 22, 23], "collision", [76.32, 265.13, 79.5]], [34, "success", null], [39, "lost_success", null], [47, "success", null], [54, "lost_success", null], [58, "success", null], [66, "lost_success", null], [68, "success", null], [82, "lost_success", null], [89, "success", null], [147, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 976, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 8, + "task_plan_idx": 11, + "init_config_idx": 30, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [43, "success", null], [47, "lost_success", null], [56, "success", null], [[82], "collision", [87.27]], [83, "lost_success", null], [[83, 84, 85, 86, 87], "collision", [35.47, 8.47, 14.99, 12.06, 46.0]], [88, "success", null], [[88], "collision", [69.02]], [89, "lost_success", null], [[89, 90], "collision", [101.61, 67.55]], [91, "success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [45.46, 67.0, 115.27, 140.36, 95.83, 93.91, 92.22, 148.74, 127.19, 98.21, 128.02, 33.18, 41.99, 18.06, 33.86]], [134, "lost_success", null], [137, "success", null], [138, "lost_success", null], [144, "success", null], [152, "lost_success", null], [153, "success", null], [155, "lost_success", null], [162, "success", null], [171, "lost_success", null], [191, "success", null], [194, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 977, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 9, + "task_plan_idx": 26, + "init_config_idx": 1, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [20, "lost_contact", null], [29, "contact", null], [29, "grasped", null], [[39, 40, 41, 42, 44, 47, 50], "collision", [88.39, 92.27, 108.29, 96.01, 75.24, 60.18, 106.95]], [52, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [60, "success", null], [63, "lost_success", null], [64, "success", null], [71, "lost_success", null], [73, "success", null], [[73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [155.5, 37.36, 76.98, 76.36, 136.92, 65.58, 172.68, 71.4, 54.23, 71.09, 30.56, 149.69, 123.85, 107.09, 175.76, 98.79, 139.74, 62.6, 72.61, 72.93, 84.78, 148.14, 55.01, 18.57, 50.03, 79.65, 82.81, 140.28, 122.41, 78.65, 65.08, 93.7, 90.66]], [107, "lost_success", null], [[107], "collision", [59.91]], [108, "success", null], [[108, 109], "collision", [8.36, 28.57]], [165, "lost_success", null], [[170, 171, 177, 179, 180, 181], "collision", [177.81, 151.95, 26.81, 270.87, 37.56, 63.59]], [186, "success", null], [196, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 978, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 20, + "init_config_idx": 8, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 12, 18, 19, 20, 21], "collision", [137.08, 97.87, 640.97, 249.82, 242.86, 192.12]], [25, "contact", null], [[26], "collision", [14.48]], [27, "grasped", null], [49, "success", null], [57, "lost_success", null], [59, "success", null], [60, "lost_success", null], [81, "success", null], [85, "lost_success", null], [96, "success", null], [110, "lost_success", null], [112, "success", null], [133, "lost_success", null], [136, "success", null], [185, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 979, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 10, + "task_plan_idx": 42, + "init_config_idx": 10, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 51, 52, 54, 55], "collision", [146.47, 120.92, 97.62, 198.28, 360.35]], [56, "contact", null], [[56, 57], "collision", [189.68, 57.71]], [58, "grasped", null], [[58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80], "collision", [172.79, 14.53, 0.44, 0.44, 0.55, 0.4, 0.43, 0.88, 1.04, 0.99, 1.03, 0.14, 0.15, 0.08, 0.1, 0.21, 0.22, 0.24, 0.19, 0.12, 0.12, 0.17, 0.21]], [81, "success", null], [[81, 82, 83, 84, 85], "collision", [0.16, 0.14, 0.18, 0.17, 0.15]], [86, "lost_success", null], [[86], "collision", [0.18]], [87, "success", null], [[87, 88], "collision", [0.14, 0.15]], [89, "lost_success", null], [[89], "collision", [0.1]], [90, "success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98], "collision", [0.07, 0.09, 0.14, 0.08, 0.06, 0.08, 0.09, 0.15, 0.08]], [99, "lost_success", null], [[99, 100, 101, 102], "collision", [0.08, 0.21, 0.18, 0.36]], [103, "success", null], [[103, 104, 105, 106, 107, 108, 109], "collision", [0.31, 0.22, 0.23, 0.1, 0.1, 0.14, 0.22]], [110, "lost_success", null], [[110], "collision", [0.25]], [111, "success", null], [[111], "collision", [0.18]], [112, "lost_success", null], [[112], "collision", [0.17]], [113, "success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136], "collision", [0.24, 0.18, 0.3, 0.24, 0.27, 0.13, 0.17, 0.13, 0.1, 0.17, 0.18, 0.16, 25.34, 31.75, 25.24, 16.28, 10.43, 21.17, 20.57, 18.07, 17.55, 9.71, 0.07, 29.77]], [137, "lost_success", null], [[137, 138, 139], "collision", [38.38, 23.88, 23.55]], [140, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195], "collision", [26.68, 28.55, 37.04, 45.38, 47.55, 46.02, 37.81, 34.77, 34.03, 31.26, 44.84, 43.39, 36.59, 35.38, 32.63, 29.13, 0.09, 34.56, 30.96, 36.56, 34.27, 37.7, 29.72, 30.76, 35.97, 31.99, 33.86, 45.14, 29.76, 31.68, 30.97, 36.17, 36.72, 29.81, 48.11, 57.61, 53.81, 44.3, 42.89, 0.07, 40.26, 33.89, 30.25, 0.06, 67.99, 41.24, 97.69, 0.09, 0.08, 0.07, 0.07, 0.03, 0.08, 0.06, 0.08, 0.1]], [196, "lost_success", null], [[196, 197, 198, 199], "collision", [0.14, 0.29, 0.21, 0.14]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 980, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 45, + "init_config_idx": 20, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [110.26, 226.19, 257.51, 360.8]], [12, "contact", null], [12, "grasped", null], [[14, 15], "collision", [1122.35, 552.08]], [26, "success", null], [27, "lost_success", null], [28, "success", null], [34, "lost_success", null], [42, "success", null], [43, "lost_success", null], [45, "success", null], [60, "lost_success", null], [64, "success", null], [72, "lost_success", null], [74, "success", null], [[142, 144, 145, 146, 147, 148], "collision", [7.07, 522.68, 385.26, 146.99, 182.53, 345.76]], [160, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 981, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 11, + "task_plan_idx": 0, + "init_config_idx": 35, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [[21, 22], "collision", [11.12, 2.58]], [24, "grasped", null], [[26], "collision", [224.37]], [37, "success", null], [38, "lost_success", null], [41, "success", null], [47, "lost_success", null], [50, "success", null], [[50, 51, 52, 53, 54, 55, 56, 57], "collision", [2.04, 4.09, 4.61, 4.13, 4.32, 4.25, 4.74, 4.79]], [58, "lost_success", null], [[58, 59], "collision", [4.36, 2.87]], [60, "success", null], [[60], "collision", [2.73]], [61, "lost_success", null], [[61], "collision", [2.84]], [64, "success", null], [[71, 72], "collision", [3.11, 2.96]], [73, "lost_success", null], [[73, 74], "collision", [3.0, 2.15]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104], "collision", [1.99, 1.97, 1.96, 2.0, 2.0, 1.95, 1.97, 2.02, 2.02, 2.05, 2.03, 2.1, 2.09, 2.03, 2.11, 2.09, 2.1, 2.1, 2.1, 2.09, 2.12, 2.09, 2.12, 2.01, 2.05, 2.15, 2.14, 2.07, 2.08, 2.07]], [105, "lost_success", null], [[105, 106, 107], "collision", [2.07, 2.07, 2.01]], [108, "success", null], [[108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121], "collision", [2.03, 2.01, 2.01, 1.99, 2.04, 2.07, 2.03, 2.05, 2.04, 2.03, 2.04, 2.03, 2.06, 2.04]], [122, "lost_success", null], [[122, 123], "collision", [2.05, 2.01]], [124, "success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161], "collision", [2.05, 2.05, 2.06, 2.09, 2.08, 2.1, 2.1, 2.05, 2.09, 2.06, 2.09, 2.13, 2.09, 2.09, 2.05, 2.05, 2.05, 2.03, 2.08, 1.99, 2.05, 2.12, 2.07, 1.98, 2.13, 2.07, 2.05, 2.06, 2.09, 2.02, 2.07, 2.07, 2.06, 2.13, 2.13, 2.14, 2.07, 2.09]], [162, "lost_success", null], [[162, 163], "collision", [2.1, 2.09]], [164, "success", null], [[164], "collision", [2.13]], [165, "lost_success", null], [[165, 166, 167], "collision", [2.1, 2.11, 2.15]], [168, "success", null], [[168, 169, 170, 171, 172], "collision", [2.11, 2.06, 2.04, 2.04, 2.04]], [173, "lost_success", null], [[173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [2.07, 2.04, 1.95, 1.88, 1.9, 1.98, 1.9, 1.97, 1.9, 1.9, 1.89, 1.85, 1.86, 1.82, 1.91, 1.85, 1.9, 1.95, 1.88, 1.9, 1.92, 1.93, 1.97, 1.96, 1.98, 2.0, 1.99]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 982, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 4, + "init_config_idx": 47, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [512.2, 149.25]], [19, "contact", null], [[19, 20], "collision", [5.36, 2.29]], [21, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [[24], "collision", [80.18]], [39, "success", null], [[41, 43, 44, 45, 46, 47, 48], "collision", [1.07, 0.05, 0.04, 0.27, 0.05, 0.05, 0.04]], [49, "lost_success", null], [[49], "collision", [0.04]], [51, "success", null], [53, "lost_success", null], [54, "success", null], [[72, 73, 74, 75], "collision", [0.05, 0.05, 0.05, 0.04]], [85, "lost_success", null], [87, "success", null], [88, "lost_success", null], [89, "success", null], [91, "lost_success", null], [[92], "collision", [54.75]], [93, "success", null], [[93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109], "collision", [25.01, 24.2, 8.35, 6.38, 18.32, 25.4, 9.72, 9.82, 15.18, 7.17, 12.89, 10.26, 10.16, 26.89, 21.73, 21.46, 26.64]], [110, "lost_success", null], [[110, 111, 112, 113], "collision", [16.27, 22.27, 12.07, 18.76]], [114, "success", null], [[114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175], "collision", [31.31, 38.02, 6.8, 16.67, 25.5, 28.57, 22.22, 39.88, 33.08, 41.11, 30.48, 51.39, 31.02, 42.87, 37.09, 30.01, 41.54, 29.78, 36.43, 37.52, 45.93, 47.86, 48.13, 24.47, 32.01, 26.57, 43.66, 37.47, 34.08, 37.25, 39.82, 33.09, 32.06, 46.27, 46.0, 41.33, 46.27, 45.33, 54.48, 31.73, 33.37, 44.75, 50.97, 49.63, 47.19, 45.31, 47.06, 50.09, 62.6, 57.84, 49.89, 43.36, 47.11, 55.91, 45.35, 39.14, 30.2, 37.19, 24.94, 27.53, 17.61, 14.45]], [176, "lost_success", null], [[176], "collision", [33.28]], [177, "success", null], [[177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [35.6, 43.59, 40.32, 34.64, 33.3, 30.32, 19.94, 19.71, 20.26, 31.4, 37.95, 29.47, 31.92, 46.27, 31.62, 29.85, 29.99, 33.26, 24.13, 39.72, 29.4, 37.57, 49.1]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 983, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 43, + "init_config_idx": 9, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[8, "contact", null], [10, "grasped", null], [21, "success", null], [38, "lost_success", null], [41, "success", null], [54, "lost_success", null], [60, "success", null], [87, "lost_success", null], [108, "success", null], [111, "lost_success", null], [113, "success", null], [116, "lost_success", null], [[123, 124, 125, 126, 127, 128, 129, 130, 131], "collision", [400.91, 55.44, 51.0, 23.29, 38.25, 56.48, 46.71, 24.21, 21.44]], [132, "success", null], [[134, 137], "collision", [18.27, 20.61]], [138, "lost_success", null], [139, "success", null], [143, "lost_success", null], [[144], "collision", [19.1]], [145, "success", null], [[146], "collision", [18.46]], [147, "lost_success", null], [[147, 149, 151, 152, 153, 154], "collision", [21.19, 47.9, 24.0, 23.83, 20.59, 9.99]], [155, "success", null], [168, "lost_success", null], [[171, 173, 176, 177, 179, 180, 181, 184], "collision", [83.75, 9.32, 3.48, 3.1, 18.67, 14.44, 3.47, 2.86]], [187, "success", null], [197, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 984, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 12, + "task_plan_idx": 16, + "init_config_idx": 28, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 11], "collision", [0.75, 554.99, 154.53, 260.99, 193.97, 126.94]], [16, "contact", null], [16, "grasped", null], [[16], "collision", [2.28]], [38, "success", null], [44, "lost_success", null], [46, "success", null], [78, "lost_success", null], [87, "success", null], [161, "lost_success", null], [162, "success", null], [178, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 985, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 13, + "task_plan_idx": 22, + "init_config_idx": 10, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [[23, 31, 32, 33, 34, 35, 36, 37], "collision", [1451.64, 364.22, 106.65, 92.06, 85.48, 81.19, 84.86, 111.12]], [44, "success", null], [102, "lost_success", null], [113, "success", null], [119, "lost_success", null], [189, "success", null], [190, "lost_success", null], [191, "success", null], [195, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 986, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 5, + "init_config_idx": 10, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [[24, 25, 26, 36, 37, 38, 39, 40, 41, 42, 43], "collision", [3.22, 2.96, 3.6, 73.87, 84.5, 80.33, 76.33, 86.49, 84.87, 86.03, 72.92]], [54, "success", null], [57, "lost_success", null], [58, "success", null], [62, "lost_success", null], [67, "success", null], [110, "lost_success", null], [112, "success", null], [137, "lost_success", null], [167, "success", null], [182, "lost_success", null], [183, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 987, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 14, + "task_plan_idx": 41, + "init_config_idx": 18, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [234.37]], [19, "contact", null], [[20, 21], "collision", [1.59, 2.4]], [22, "grasped", null], [[22, 23], "collision", [6.09, 3.45]], [45, "success", null], [61, "lost_success", null], [62, "success", null], [72, "lost_success", null], [86, "success", null], [89, "lost_success", null], [[106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116], "collision", [0.02, 0.08, 0.41, 0.27, 0.14, 0.12, 0.09, 0.1, 0.07, 0.08, 0.07]], [117, "success", null], [[117, 118, 119, 120, 121, 122, 123, 124], "collision", [0.05, 0.08, 0.08, 0.1, 0.07, 0.01, 0.01, 0.01]], [130, "lost_success", null], [131, "success", null], [138, "lost_success", null], [[147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161], "collision", [0.04, 0.03, 0.03, 0.02, 0.02, 0.04, 0.04, 0.03, 0.04, 0.03, 0.08, 0.06, 0.07, 0.06, 0.05]], [162, "success", null], [[162], "collision", [0.07]], [163, "lost_success", null], [[163], "collision", [0.06]], [164, "success", null], [[164], "collision", [0.06]], [165, "lost_success", null], [[165], "collision", [0.06]], [166, "success", null], [[166], "collision", [0.07]], [167, "lost_success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.07, 0.07, 0.07, 0.09, 0.06, 0.05, 0.08, 0.07, 0.07, 0.07, 0.07, 0.08, 0.06, 0.07, 0.08, 0.06, 0.05, 0.06, 0.06, 0.09, 0.07, 0.07, 0.09, 0.06, 0.05, 0.06, 0.07, 0.05, 0.05, 0.05, 0.07, 0.08, 0.08]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 988, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 32, + "init_config_idx": 35, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [42.06]], [15, "contact", null], [15, "grasped", null], [[21, 22, 23], "collision", [92.44, 304.69, 27.72]], [33, "success", null], [[33], "collision", [0.2]], [37, "lost_success", null], [39, "success", null], [[46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66], "collision", [2.28, 0.83, 0.83, 1.24, 1.54, 0.94, 0.87, 2.23, 1.05, 1.52, 1.6, 1.14, 1.3, 1.41, 1.44, 1.08, 0.62, 0.85, 0.85, 0.54, 0.26]], [72, "lost_success", null], [[72], "collision", [0.57]], [73, "success", null], [77, "lost_success", null], [78, "success", null], [82, "lost_success", null], [85, "success", null], [86, "lost_success", null], [88, "success", null], [100, "lost_success", null], [102, "success", null], [129, "lost_success", null], [135, "success", null], [149, "lost_success", null], [153, "success", null], [164, "lost_success", null], [165, "success", null], [184, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 989, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 15, + "task_plan_idx": 41, + "init_config_idx": 37, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [12, "grasped", null], [24, "success", null], [32, "lost_success", null], [34, "success", null], [36, "lost_success", null], [37, "success", null], [[47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 63, 64], "collision", [35.24, 0.26, 75.68, 30.88, 46.63, 36.03, 44.89, 36.67, 29.89, 31.66, 39.07, 36.94, 35.09, 39.78, 33.33, 8.13]], [83, "lost_success", null], [84, "success", null], [93, "lost_success", null], [99, "success", null], [101, "lost_success", null], [102, "success", null], [105, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 990, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 16, + "task_plan_idx": 33, + "init_config_idx": 1, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [75.41]], [23, "contact", null], [[23, 24], "collision", [6.3, 0.57]], [26, "grasped", null], [48, "success", null], [62, "lost_success", null], [63, "success", null], [67, "lost_success", null], [69, "success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118], "collision", [20.41, 42.53, 40.75, 53.95, 36.85, 33.86, 31.99, 24.76, 53.49, 50.99, 56.2, 51.18, 38.93, 41.46, 35.66, 41.54, 45.72, 37.69, 36.17, 50.87, 33.38, 32.56, 37.0, 30.09, 173.72, 59.49, 34.57, 40.84, 38.88, 48.12, 47.84, 47.17, 55.71, 33.63, 42.38, 33.53, 35.96, 32.6, 31.03]], [119, "lost_success", null], [[119], "collision", [32.4]], [120, "success", null], [[120, 121, 122, 124, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [30.33, 31.57, 11.64, 4.97, 16.34, 14.93, 18.82, 32.44, 38.69, 32.58, 34.19, 29.17, 16.61, 14.33]], [138, "lost_success", null], [[138, 139, 140, 141, 142], "collision", [22.91, 20.1, 19.33, 24.12, 35.0]], [143, "success", null], [[143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [43.15, 38.05, 39.29, 38.89, 44.22, 40.22, 42.79, 49.05, 40.93, 41.61, 45.63, 36.57, 81.38, 72.13, 72.14, 79.35, 72.3, 74.68, 76.18, 69.04, 58.34, 62.16, 61.26, 49.62, 26.14, 34.07, 36.29, 19.19, 26.96, 23.95, 20.39, 37.41, 43.99, 41.99, 37.53, 25.26, 10.83, 18.96, 17.93, 26.66, 21.56, 34.6, 33.91, 35.31, 15.62, 34.32, 30.61, 26.27, 32.49, 43.8, 43.88, 42.51, 29.55, 43.57, 37.66, 34.58]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 991, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 17, + "task_plan_idx": 29, + "init_config_idx": 2, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[27], "collision", [557.48]], [28, "contact", null], [28, "grasped", null], [[28, 29, 31, 32, 33, 34, 35, 36, 37, 45, 46, 47, 48, 49, 50, 51, 52, 56, 57, 59, 60], "collision", [59.06, 15.13, 220.8, 575.03, 300.67, 283.88, 166.27, 189.56, 218.39, 76.33, 87.85, 107.97, 118.72, 116.47, 111.33, 99.03, 95.47, 276.97, 126.03, 100.64, 86.93]], [62, "success", null], [63, "lost_success", null], [64, "success", null], [113, "lost_success", null], [114, "success", null], [124, "lost_success", null], [125, "success", null], [128, "lost_success", null], [131, "success", null], [134, "lost_success", null], [136, "success", null], [139, "lost_success", null], [152, "success", null], [181, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 992, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 33, + "init_config_idx": 29, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [199.21]], [20, "contact", null], [21, "grasped", null], [38, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [46, "success", null], [50, "lost_success", null], [55, "success", null], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [68, "success", null], [72, "lost_success", null], [79, "success", null], [123, "lost_success", null], [125, "success", null], [126, "lost_success", null], [133, "success", null], [135, "lost_success", null], [136, "success", null], [137, "lost_success", null], [138, "success", null], [140, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 993, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 18, + "task_plan_idx": 46, + "init_config_idx": 10, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [42, "success", null], [44, "lost_success", null], [[84, 87, 88, 89, 90, 91, 92, 93, 95, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135], "collision", [1853.6, 474.23, 3.0, 56.96, 59.08, 71.88, 96.56, 32.53, 38.49, 21.03, 47.43, 37.78, 11.19, 65.64, 46.38, 11.47, 14.72, 14.11, 28.01, 13.86, 13.2, 11.92, 10.13, 11.29, 11.27, 11.22, 13.65, 11.91, 11.59, 13.65, 14.48, 11.39, 11.59, 7.78]], [136, "success", null], [[136], "collision", [9.34]], [137, "lost_success", null], [141, "success", null], [144, "lost_success", null], [146, "success", null], [147, "lost_success", null], [151, "success", null], [152, "lost_success", null], [162, "success", null], [165, "lost_success", null], [166, "success", null], [177, "lost_success", null], [183, "success", null], [191, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 994, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 23, + "init_config_idx": 50, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 8, 9, 10, 11, 16], "collision", [565.42, 261.05, 350.64, 114.28, 677.38, 251.2, 5.23]], [18, "contact", null], [20, "grasped", null], [[20, 21, 23], "collision", [15.23, 6.3, 117.0]], [44, "success", null], [46, "lost_success", null], [47, "success", null], [62, "lost_success", null], [[67], "collision", [7.39]], [70, "success", null], [[81], "collision", [4.68]], [83, "lost_success", null], [[85], "collision", [3.37]], [86, "success", null], [[86], "collision", [5.05]], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [92, "success", null], [97, "lost_success", null], [107, "success", null], [117, "lost_success", null], [120, "success", null], [124, "lost_success", null], [127, "success", null], [128, "lost_success", null], [138, "success", null], [149, "lost_success", null], [150, "success", null], [155, "lost_success", null], [156, "success", null], [165, "lost_success", null], [176, "success", null], [192, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "episode_id": 995, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 20, + "task_plan_idx": 36, + "init_config_idx": 47, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [168.66]], [17, "contact", null], [17, "grasped", null], [[18, 19, 20, 22, 23], "collision", [3.83, 0.68, 1.56, 1594.47, 584.79]], [33, "success", null], [[35, 36], "collision", [1.36, 1.54]], [37, "lost_success", null], [[37], "collision", [1.97]], [38, "success", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50], "collision", [1.24, 16.54, 1.91, 2.1, 1.94, 1.76, 5.2, 5.1, 5.11, 5.11, 5.1, 5.1, 5.09]], [51, "lost_success", null], [[51], "collision", [5.15]], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65], "collision", [5.13, 5.12, 5.08, 5.4, 5.29, 5.3, 5.05, 5.0, 4.93, 5.24, 4.97, 5.26, 5.21, 5.15]], [66, "lost_success", null], [[66], "collision", [4.98]], [67, "success", null], [[67, 68], "collision", [5.01, 5.16]], [69, "lost_success", null], [[69, 70], "collision", [5.17, 5.07]], [71, "success", null], [[71, 72], "collision", [4.95, 5.35]], [73, "lost_success", null], [[73, 74, 75, 76, 77, 78, 79, 80, 81], "collision", [4.87, 5.36, 5.3, 5.15, 5.25, 4.96, 5.09, 5.13, 4.92]], [82, "success", null], [[82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104], "collision", [5.13, 5.41, 5.05, 5.09, 5.09, 5.08, 4.98, 5.16, 5.06, 4.92, 5.12, 4.84, 5.37, 4.98, 5.11, 5.16, 5.17, 5.1, 5.11, 5.13, 5.09, 5.02, 5.19]], [105, "lost_success", null], [[105, 106], "collision", [5.09, 5.19]], [107, "success", null], [[107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154], "collision", [5.18, 5.17, 5.12, 5.13, 5.09, 5.11, 5.38, 5.11, 5.33, 5.13, 5.11, 5.09, 5.1, 5.1, 5.11, 5.09, 5.35, 5.24, 5.31, 5.22, 5.05, 5.09, 5.14, 5.2, 5.13, 5.08, 5.1, 5.12, 5.16, 5.18, 5.14, 5.12, 5.1, 5.12, 5.19, 5.14, 5.14, 5.12, 5.15, 5.09, 5.13, 5.15, 5.1, 5.08, 5.15, 5.13, 5.16, 5.18]], [155, "lost_success", null], [[155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [5.14, 5.12, 5.12, 5.08, 5.05, 5.07, 5.14, 5.11, 5.13, 5.1, 5.1, 5.08, 5.14, 5.01, 5.1, 5.13, 5.11, 5.05, 5.04, 5.11, 5.21, 5.1, 5.06, 5.1, 5.2, 5.13, 5.5, 5.08, 5.13, 5.1, 5.1, 5.14, 5.14, 5.17, 5.12, 5.1, 5.22, 5.34, 5.14, 5.1, 5.11, 4.89, 5.15, 5.14, 5.24]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 996, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 21, + "task_plan_idx": 47, + "init_config_idx": 43, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [26, "grasped", null], [[37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 50, 52], "collision", [58.17, 83.18, 87.74, 90.34, 91.54, 94.04, 93.79, 101.28, 109.8, 104.42, 126.82, 55.4]], [53, "success", null], [129, "lost_success", null], [130, "success", null], [137, "lost_success", null], [141, "success", null], [158, "lost_success", null], [159, "success", null], [166, "lost_success", null], [169, "success", null], [181, "lost_success", null]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 997, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 42, + "init_config_idx": 34, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [1297.64, 247.85, 224.68, 144.75]], [11, "contact", null], [11, "grasped", null], [33, "success", null], [34, "lost_success", null], [56, "success", null], [60, "lost_success", null], [69, "success", null], [149, "lost_success", null], [154, "success", null], [161, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 998, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 22, + "task_plan_idx": 42, + "init_config_idx": 34, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [[21], "collision", [2.03]], [22, "lost_contact", null], [30, "contact", null], [31, "lost_contact", null], [32, "contact", null], [32, "grasped", null], [75, "success", null], [77, "lost_success", null], [79, "success", null], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [91, "success", null], [92, "lost_success", null], [109, "success", null], [110, "lost_success", null], [111, "success", null], [122, "lost_success", null], [126, "success", null], [130, "lost_success", null], [131, "success", null], [132, "lost_success", null], [133, "success", null], [136, "lost_success", null], [137, "success", null], [141, "lost_success", null], [143, "success", null], [148, "lost_success", null], [149, "success", null], [151, "lost_success", null], [152, "success", null], [153, "lost_success", null], [154, "success", null], [173, "lost_success", null], [184, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "episode_id": 999, + "episode_seed": [2024, 378019464, 1104465402, 855165536, 1025411712, 808106523, 408516132, 188156350, 1688125623, 880549673, 2092944511, 455536577, 160432444, 975988963, 1270112330, 770519362, 728233440, 2035151781, 1005078012, 1925415921, 144453790, 82063727, 568897783, 1084901578, 1789770350, 440013151, 612419951, 1983319563, 2144108316, 705957979, 1729237031, 457970742, 1041347698, 1929090231, 78801737, 967888742, 1198574298, 730893044, 2117140010, 1012609823, 1620052065, 1108082838, 1618195227, 410350422, 1371660919, 1979592261, 1787017885, 1081332285, 922245107, 1211889974, 1084798852, 1152141881, 590555734, 1279571254, 2056494078, 189138324, 931102078, 1643716744, 745844498, 1639178337, 1826019162, 1227619274, 779883911, 1031943856, 538138344, 1026440629, 736330334, 1880000397, 834906208, 1647286199, 1231541632, 1242453035, 1755381197, 1221947639, 1970077206, 1112197478, 2016242827, 1794374587, 676479280, 969669487, 172255206, 1804307775, 1049231719, 276439944, 1528057293, 414175261, 616205334, 1448794366, 468420144, 1685716200, 189047484, 861258797, 1802401131, 10287425, 1780421640, 1698152065, 1529187745, 1099172021, 1969575725, 1577250880, 949412236, 70815157, 646393863, 225472690, 1900966539, 119852722, 313982683, 1818276092, 316173690, 1056340542, 1267978811, 274956813, 2140102786, 1727026550, 1579133527, 1606488724, 806663785, 702945640, 1657521145, 2146372573, 1164792052, 1489511702, 1981339839, 1343801467, 807432023, 1490800442, 330719235, 1633080131, 903096184, 758313642, 297789451, 230533039, 1101190356, 254321242, 636124485, 835426736, 509887462, 1392416819, 1664242753, 1337575919, 113991641, 22465020, 1327074528, 1498959862, 2031780435, 1260640051, 1516774793, 760722676, 744187804, 1807779242, 15302374, 780450154, 309430432, 950166987, 510604246, 210443501, 1120507910, 1498285255, 464712476, 1016047135, 58974575, 2145862668, 1666937741, 1630648720, 1160014808, 1234892475, 1939064138, 725288151, 1246852887, 370907402, 1988338553, 1852035723, 55146707, 265902226, 1705282973, 1243198815, 937138880, 1005646816, 1665043763, 1239765733, 1449352867, 1676747124, 1692562939, 582471983, 283936276, 1422273528, 778823694, 1371902725, 2029083572, 683865278, 1014739004, 909090884, 701231786, 1600771443, 1209548487, 400103542, 928091706, 836285444, 929631961, 744031447, 702928921, 136290450, 1901317340, 1593255161, 1058967414, 1464971526, 1379000919, 2027463121, 307344141, 1212285492, 1715180955, 846239557, 1769479576, 475135328, 788608538, 2056668749, 187955346, 500952071, 493553051, 601008690, 2088544418, 1766244375, 1826260832, 1192413224, 1645822877, 1888606744, 796858378, 449165122, 266139185, 1883266696, 1251322265, 1277268179, 99499038, 1420786850, 1359411958, 1339109617, 240832448, 1246201179, 2105065213, 746850107, 1228898051, 1637024864, 1883972505, 1374632143, 189263059, 1016442122, 1558496231, 1490217207, 370239019, 468648041, 477687867, 1478469477], + "build_config_idx": 24, + "task_plan_idx": 23, + "init_config_idx": 15, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 20, 24], "collision", [120.38, 501.88, 489.17, 404.57]], [25, "contact", null], [[25], "collision", [6.82]], [26, "grasped", null], [[38, 39, 40], "collision", [35.76, 44.94, 61.47]], [47, "success", null], [51, "lost_success", null], [52, "success", null], [54, "lost_success", null], [59, "success", null], [[111, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151], "collision", [55.13, 0.3, 20.72, 8.63, 10.02, 6.64, 6.98, 5.43, 15.45, 19.14, 14.26, 52.23, 47.36, 26.11, 37.9, 33.53, 24.22, 24.67, 38.86, 43.08, 45.94, 55.3, 99.28, 68.32, 84.82, 74.65, 93.75, 66.44, 51.43, 45.66, 44.26, 49.29, 34.3, 42.72, 30.79, 56.19, 16.68, 31.44, 15.82]]], + "articulation_type": null, + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + } + ], + "source_type": "RL", + "source_desc": "RL policy trained exclusively to pick 008_pudding_box in the prepare_groceries task." +} \ No newline at end of file