diff --git "a/set_table/pick/013_apple.json" "b/set_table/pick/013_apple.json" new file mode 100644--- /dev/null +++ "b/set_table/pick/013_apple.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": "ReplicaCADSetTableTrain" + }, + "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": 42, + "init_config_idx": 25, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [42, "success", null], [44, "lost_success", null], [47, "success", null], [88, "lost_success", null], [89, "success", null], [105, "lost_success", null], [113, "success", null], [122, "lost_success", null], [144, "success", null], [149, "lost_success", null], [167, "success", null], [168, "lost_success", null], [170, "success", null], [172, "lost_success", null], [173, "success", null], [181, "lost_success", null], [182, "success", null], [189, "lost_success", null], [190, "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": 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": 22, + "init_config_idx": 14, + "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], [[20, 21, 26], "collision", [3.48, 6.73, 0.99]], [34, "success", null], [35, "lost_success", null], [36, "success", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [110.23, 28.4, 68.65, 34.86, 63.31, 53.7, 21.1, 28.95, 21.44, 34.43, 43.11, 33.08, 39.04, 29.37]], [52, "lost_success", null], [[52], "collision", [9.22]], [53, "success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61], "collision", [44.91, 55.62, 65.54, 43.61, 50.09, 60.42, 74.66, 56.22, 45.39]], [62, "lost_success", null], [[62], "collision", [32.01]], [63, "success", null], [[63, 64, 65, 66, 67, 68], "collision", [22.93, 38.26, 51.96, 44.09, 35.59, 0.49]], [70, "lost_success", null], [71, "success", null], [80, "lost_success", null], [81, "success", null], [94, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [106, "lost_success", null], [117, "success", null], [131, "lost_success", null], [137, "success", null], [151, "lost_success", null], [156, "success", null], [157, "lost_success", null], [163, "success", null], [166, "lost_success", null], [171, "success", null], [173, "lost_success", null], [175, "success", null], [178, "lost_success", null], [179, "success", null], [191, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 107, + "init_config_idx": 116, + "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], "collision", [228.29, 267.63, 68.8]], [17, "contact", null], [[18], "collision", [397.99]], [19, "grasped", null], [[19], "collision", [135.71]], [51, "success", null], [78, "lost_success", null], [80, "success", null], [112, "lost_success", null], [114, "success", null], [150, "lost_success", null], [152, "success", null], [167, "lost_success", null], [170, "success", null], [184, "lost_success", null], [[188, 189], "collision", [109.83, 72.13]], [190, "success", null], [[190, 191, 192, 193, 194], "collision", [65.19, 48.26, 50.05, 48.34, 17.48]], [196, "lost_success", null], [197, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 63, + "init_config_idx": 42, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 16, 17, 18], "collision", [156.64, 89.82, 193.69, 170.4, 343.39, 92.74, 1936.98]], [20, "contact", null], [21, "grasped", null], [[26], "collision", [2.32]], [43, "success", null], [44, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [50, "lost_success", null], [57, "success", null], [[65, 66, 67, 68, 69, 70, 72, 73, 74, 75, 76, 77, 80], "collision", [51.51, 25.26, 18.28, 10.61, 21.56, 14.78, 12.64, 15.38, 28.71, 16.45, 18.65, 15.51, 32.5]], [81, "lost_success", null], [84, "success", null], [98, "lost_success", null], [100, "success", null], [110, "lost_success", null], [111, "success", null], [114, "lost_success", null], [115, "success", null], [118, "lost_success", null], [119, "success", null], [123, "lost_success", null], [124, "success", null], [139, "lost_success", null], [140, "success", null], [145, "lost_success", null], [146, "success", null], [155, "lost_success", null], [170, "success", null], [173, "lost_success", null], [185, "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": 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": 87, + "init_config_idx": 7, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [[25, 26, 27, 32, 33, 34, 35, 37, 38, 39, 40, 41], "collision", [7.26, 3.02, 1.8, 5.47, 16.11, 25.26, 15.67, 6.04, 21.76, 38.45, 29.53, 6.15]], [86, "success", null], [[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", [2.85, 5.39, 15.51, 16.92, 23.7, 27.95, 35.22, 33.97, 32.96, 44.3, 46.4, 46.4, 46.72, 53.31, 47.28, 38.08, 37.42, 32.71, 23.34, 32.77, 23.12, 24.39, 23.22, 24.12, 23.34, 23.62, 22.58, 22.9, 23.43, 23.69]]], + "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": 23, + "init_config_idx": 135, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [405.09]], [20, "contact", null], [20, "grasped", null], [43, "success", null], [45, "lost_success", null], [49, "success", null], [52, "lost_success", null], [64, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 10, + "task_plan_idx": 93, + "init_config_idx": 17, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12], "collision", [183.21, 179.47, 101.05]], [17, "contact", null], [17, "grasped", null], [[18, 23], "collision", [16.93, 35.9]], [41, "success", null], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [68, "lost_success", null], [70, "success", null], [[84, 85, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 111, 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, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 168, 169, 170, 172], "collision", [24.1, 25.46, 10.6, 14.83, 17.36, 17.6, 8.59, 27.84, 25.31, 32.46, 25.26, 27.81, 20.15, 12.92, 15.51, 14.65, 12.01, 22.25, 23.94, 26.17, 25.29, 20.97, 30.7, 27.46, 26.54, 17.85, 7.17, 14.63, 12.19, 8.35, 10.35, 24.9, 25.28, 21.28, 24.24, 19.11, 7.18, 18.44, 30.22, 23.32, 33.83, 29.6, 32.04, 28.83, 26.85, 23.18, 15.79, 9.27, 22.42, 12.74, 21.31, 22.89, 21.22, 27.84, 26.36, 7.87, 14.32, 20.42, 14.16, 2.41, 10.49, 35.61, 30.57, 12.55, 9.93, 29.12, 1.46, 26.71, 12.2, 20.54, 11.01, 24.35]], [174, "lost_success", null], [175, "success", null], [[181, 182, 183, 187, 189, 193, 197], "collision", [9.17, 3.59, 12.17, 10.2, 16.75, 6.3, 19.55]]], + "articulation_type": "fridge", + "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": 110, + "init_config_idx": 86, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [830.25]], [17, "contact", null], [17, "grasped", null], [[28, 29, 30], "collision", [0.68, 44.05, 5.89]], [34, "success", null], [35, "lost_success", null], [39, "success", null], [45, "lost_success", null], [47, "success", null], [52, "lost_success", null], [53, "success", null], [61, "lost_success", null], [65, "success", null], [76, "lost_success", null], [78, "success", null], [185, "lost_success", null], [186, "success", null], [[187], "collision", [0.03]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 11, + "task_plan_idx": 14, + "init_config_idx": 72, + "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], [19, "grasped", null], [[22, 23, 36, 41, 42], "collision", [489.8, 137.68, 1.76, 0.03, 0.09]], [43, "success", null], [[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, 81, 82, 83, 84, 85, 86], "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, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [87, "lost_success", null], [[87], "collision", [0.09]], [88, "success", null], [[88], "collision", [0.09]], [89, "lost_success", null], [[89, 90], "collision", [0.09, 0.09]], [91, "success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109], "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]], [110, "lost_success", null], [[110], "collision", [0.09]], [111, "success", null], [[111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129], "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]], [130, "lost_success", null], [[130], "collision", [0.09]], [131, "success", null], [[131, 132, 133, 134, 135, 136], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [137, "lost_success", null], [[137, 138, 139], "collision", [0.09, 0.09, 0.09]], [140, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "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]], [159, "lost_success", null], [[159], "collision", [0.09]], [160, "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, 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, 0.43, 0.1, 0.09, 0.44, 0.33, 0.33, 0.33, 0.33, 0.33, 0.33, 0.33, 0.33, 0.3, 0.32, 0.33, 0.32, 0.32, 0.32, 0.32, 0.31, 0.3, 0.32, 0.32, 0.32, 0.32, 0.33, 0.32, 0.32, 0.32]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 12, + "task_plan_idx": 101, + "init_config_idx": 45, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [51, "success", null], [56, "lost_success", null], [57, "success", null], [59, "lost_success", null], [60, "success", null], [73, "lost_success", null], [[73, 74, 75, 76, 77, 78], "collision", [53.81, 77.33, 65.54, 52.72, 60.39, 59.74]], [79, "success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [56.49, 59.26, 57.99, 59.14, 59.66, 57.34, 58.7, 59.79, 57.4]], [88, "lost_success", null], [[88, 89, 90, 91, 92, 93, 94, 95], "collision", [57.33, 57.67, 56.79, 57.59, 58.31, 33.81, 28.1, 25.31]], [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, 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, 180, 181, 182, 183, 192, 193, 194, 195, 196], "collision", [18.21, 14.92, 11.89, 13.52, 10.71, 10.46, 10.89, 10.25, 11.74, 11.07, 12.03, 9.53, 10.53, 31.87, 42.84, 39.75, 37.14, 21.61, 29.44, 53.83, 49.44, 45.33, 42.26, 50.4, 48.15, 47.63, 48.83, 49.97, 49.93, 46.64, 50.25, 44.58, 50.89, 54.63, 55.59, 55.66, 41.36, 36.87, 26.85, 35.29, 36.5, 46.82, 45.96, 44.18, 44.38, 47.82, 44.2, 40.88, 43.69, 46.59, 43.96, 46.38, 46.11, 44.22, 45.0, 45.58, 47.72, 46.7, 45.26, 45.59, 46.25, 45.78, 43.42, 44.27, 42.38, 46.7, 33.48, 29.81, 29.75, 34.72, 33.52, 33.62, 31.1, 25.12, 43.46, 46.06, 52.91, 36.34, 45.49, 42.85, 24.53, 41.08, 17.62, 7.25, 12.65, 4.5, 8.02, 2.33, 5.09, 9.7, 16.84, 11.88]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 13, + "task_plan_idx": 66, + "init_config_idx": 106, + "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], [43, "success", null], [44, "lost_success", null], [51, "success", null], [54, "lost_success", null], [58, "success", null], [59, "lost_success", null], [62, "success", null], [68, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [78, "lost_success", null], [79, "success", null], [81, "lost_success", null], [84, "success", null], [86, "lost_success", null], [87, "success", null], [[196, 197, 198, 199], "collision", [1.46, 28.56, 22.72, 16.65]]], + "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": 13, + "task_plan_idx": 120, + "init_config_idx": 92, + "spawn_selection_idx": 68, + "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, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [91.55, 18.03, 9.81, 10.27, 14.07, 12.43, 13.08, 11.65, 11.43, 13.13, 12.72, 11.39]], [47, "success", null], [[47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60], "collision", [13.35, 11.54, 11.06, 12.48, 12.91, 12.4, 13.31, 12.55, 13.0, 10.39, 10.97, 12.02, 11.95, 12.24]], [61, "lost_success", null], [[61, 62, 63, 64], "collision", [11.98, 12.79, 13.34, 13.7]], [65, "success", null], [[65, 66, 67, 68, 69, 70], "collision", [12.74, 13.66, 12.42, 13.66, 14.13, 15.41]], [71, "lost_success", null], [[71], "collision", [14.43]], [72, "success", null], [[72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [13.75, 14.75, 14.24, 15.04, 13.46, 13.36, 13.45, 12.53, 14.59, 13.84, 12.77]], [83, "lost_success", null], [[83], "collision", [12.33]], [84, "success", null], [[84], "collision", [12.52]], [85, "lost_success", null], [[85, 86, 87, 88, 89], "collision", [12.4, 12.85, 14.1, 14.18, 13.92]], [90, "success", null], [[90, 91, 92, 93], "collision", [14.11, 12.79, 13.34, 12.8]], [94, "lost_success", null], [[94, 95], "collision", [12.98, 12.92]], [96, "success", null], [[96, 97, 98, 99], "collision", [12.49, 14.59, 14.2, 14.59]], [100, "lost_success", null], [[100, 101, 102], "collision", [15.12, 14.01, 15.39]], [103, "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, 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", [16.13, 15.26, 15.5, 15.16, 15.78, 15.77, 16.71, 14.99, 15.56, 14.63, 13.52, 12.89, 14.17, 13.24, 14.02, 13.64, 14.18, 13.47, 13.31, 12.55, 13.14, 13.2, 14.02, 14.77, 13.32, 12.97, 14.91, 11.75, 11.17, 12.87, 13.03, 12.04, 10.36, 11.73, 11.77, 11.83, 14.0, 13.52, 14.18, 13.12, 12.96, 14.62, 14.59, 14.45, 13.7, 15.6, 14.34, 14.58, 14.63, 14.42, 14.41, 13.29, 13.26, 12.96, 14.04, 13.49, 13.58, 13.95, 13.83, 14.67, 13.46, 13.85, 14.48, 15.03, 16.96, 15.76, 15.14, 17.01, 15.97, 15.13, 15.47, 15.18, 16.03, 17.48, 15.7, 17.81, 14.39, 17.37, 18.26, 20.02, 18.63, 18.45, 21.19, 9.89, 10.1, 9.23, 7.87, 12.56, 14.16, 5.31, 9.1, 13.99, 11.52, 9.87, 7.18, 7.04, 6.02]]], + "articulation_type": "fridge", + "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": 13, + "task_plan_idx": 29, + "init_config_idx": 124, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 14], "collision", [524.36, 515.56, 519.41, 442.06, 491.56]], [16, "contact", null], [[16], "collision", [537.77]], [17, "grasped", null], [[17], "collision", [361.97]], [40, "success", null], [72, "lost_success", null], [74, "success", null], [80, "lost_success", null], [81, "success", null], [97, "lost_success", null], [103, "success", null], [105, "lost_success", null], [144, "success", null], [155, "lost_success", null], [156, "success", null], [159, "lost_success", null], [160, "success", null], [161, "lost_success", null], [181, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 13, + "task_plan_idx": 141, + "init_config_idx": 41, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24], "collision", [364.69, 338.52, 339.99, 364.41, 392.67, 410.29, 457.0, 480.98, 502.02, 0.01, 544.65]], [27, "contact", null], [28, "grasped", null], [72, "success", null], [102, "lost_success", null], [103, "success", null], [107, "lost_success", null], [108, "success", null], [145, "lost_success", null], [146, "success", null], [147, "lost_success", null], [148, "success", null], [150, "lost_success", null], [153, "success", null], [188, "lost_success", null], [190, "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": 14, + "task_plan_idx": 121, + "init_config_idx": 144, + "spawn_selection_idx": 66, + "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], "collision", [20.8]], [34, "success", null], [168, "lost_success", null], [170, "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": 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": 14, + "task_plan_idx": 46, + "init_config_idx": 139, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [160.3]], [20, "contact", null], [20, "grasped", null], [35, "success", null], [50, "lost_success", null], [54, "success", null], [57, "lost_success", null], [58, "success", null], [96, "lost_success", null], [97, "success", null], [100, "lost_success", null], [102, "success", null], [104, "lost_success", null], [107, "success", null], [108, "lost_success", null], [111, "success", null], [112, "lost_success", null], [113, "success", null], [115, "lost_success", null], [119, "success", null], [167, "lost_success", null], [169, "success", null], [171, "lost_success", null], [175, "success", null], [176, "lost_success", null], [177, "success", null], [180, "lost_success", null], [182, "success", null], [183, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "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": 14, + "task_plan_idx": 138, + "init_config_idx": 67, + "spawn_selection_idx": 22, + "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], [34, "lost_success", null], [35, "success", null], [[37, 38, 39, 40, 41, 42, 43, 45, 46, 47, 48, 49, 50, 51, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 67, 68, 69, 75], "collision", [15.03, 0.24, 1.15, 1.12, 1.1, 1.15, 1.2, 4.63, 2.18, 2.69, 3.97, 3.01, 2.35, 1.48, 2.75, 1.39, 0.92, 0.72, 2.14, 2.03, 0.94, 28.2, 42.48, 25.9, 8.11, 5.26, 16.49, 80.6, 8.18, 47.66]], [76, "lost_success", null], [[76], "collision", [54.46]], [77, "success", null], [[77, 78, 79, 80, 81, 82], "collision", [72.33, 79.34, 26.53, 54.79, 54.68, 62.75]], [83, "lost_success", null], [[83], "collision", [90.95]], [84, "success", null], [[84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [39.35, 58.0, 30.44, 23.78, 57.86, 48.29, 17.45, 15.72, 28.06, 8.77, 31.4, 36.43, 11.41, 25.04, 12.5, 1.54]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 14, + "task_plan_idx": 2, + "init_config_idx": 152, + "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], [[31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [1.69, 13.92, 11.39, 13.5, 23.32, 15.46, 30.7, 36.58, 49.76, 7.57, 10.62, 20.19, 19.23, 17.66, 26.52]], [46, "success", null], [[46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65], "collision", [21.6, 18.35, 26.32, 17.56, 16.46, 22.39, 17.91, 12.02, 13.38, 9.11, 9.08, 8.63, 8.97, 9.98, 8.79, 7.08, 7.7, 8.16, 7.25, 8.78]], [67, "lost_success", null], [[67, 70, 71], "collision", [0.03, 0.54, 0.84]], [89, "success", null], [[105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117], "collision", [22.65, 1.9, 0.96, 6.95, 18.0, 13.63, 15.38, 17.22, 22.61, 26.03, 24.93, 26.29, 23.52]], [118, "lost_success", null], [[118], "collision", [28.25]], [119, "success", null], [[119, 120, 122], "collision", [4.58, 17.23, 2.08]], [123, "lost_success", null], [130, "success", null], [143, "lost_success", null], [[147], "collision", [1.15]], [148, "success", null], [[148, 149, 150, 151, 152, 153, 154, 155, 156], "collision", [13.51, 16.7, 17.7, 15.32, 16.77, 15.72, 10.77, 13.06, 12.81]], [157, "lost_success", null], [[157, 158, 159], "collision", [10.6, 10.35, 10.6]], [160, "success", null], [[160, 161, 162, 163, 164, 165, 166, 167], "collision", [12.94, 11.51, 9.49, 11.92, 10.33, 13.55, 11.09, 8.39]], [168, "lost_success", null], [[168, 169, 170, 171], "collision", [8.21, 8.81, 15.8, 10.89]], [172, "success", null], [[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", [10.83, 10.86, 12.06, 12.24, 12.25, 12.09, 12.61, 11.3, 11.7, 12.0, 11.4, 11.64, 12.8, 12.77, 12.34, 12.55, 12.69, 12.84, 13.4, 13.57, 12.98, 12.12, 12.53, 12.15, 11.9, 12.88, 12.08, 12.21]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 149, + "init_config_idx": 109, + "spawn_selection_idx": 35, + "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], "collision", [30.74, 41.5, 31.84, 29.55, 34.6, 32.53, 32.76, 22.16, 28.58, 7.16, 25.78]], [39, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [46, "success", null], [53, "lost_success", null], [55, "success", null], [64, "lost_success", null], [65, "success", null], [174, "lost_success", null], [176, "success", null], [178, "lost_success", null], [180, "success", null], [184, "lost_success", null], [185, "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": 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": 16, + "task_plan_idx": 42, + "init_config_idx": 55, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 20, 21, 22, 23, 24], "collision", [96.27, 12.96, 717.65, 71.07, 38.9, 84.16, 42.92]], [25, "contact", null], [25, "grasped", null], [[25, 26, 28], "collision", [174.91, 4.88, 33.01]], [48, "success", null], [49, "lost_success", null], [52, "success", null], [59, "lost_success", null], [62, "success", null], [65, "lost_success", null], [66, "success", null], [84, "lost_success", null], [99, "success", null], [102, "lost_success", null], [103, "success", null], [131, "lost_success", null], [133, "success", null], [138, "lost_success", null], [140, "success", null], [141, "lost_success", null], [148, "success", null], [190, "lost_success", null], [191, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 16, + "task_plan_idx": 58, + "init_config_idx": 42, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [29, "success", null], [91, "lost_success", null], [92, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 16, + "task_plan_idx": 49, + "init_config_idx": 101, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [22, "grasped", null], [[31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [21.19, 16.04, 18.38, 18.91, 17.37, 18.14, 15.51, 17.1, 18.69, 15.33, 16.83, 15.14, 13.83, 13.97, 14.56]], [46, "success", null], [[46, 47, 48, 49], "collision", [16.17, 14.97, 17.5, 16.92]], [50, "lost_success", null], [[50, 51, 52, 53, 54, 55, 56, 57], "collision", [18.12, 15.34, 17.32, 17.98, 17.82, 16.58, 15.75, 15.59]], [58, "success", null], [[58], "collision", [17.22]], [59, "lost_success", null], [[59, 60, 61], "collision", [13.78, 14.2, 12.01]], [62, "success", null], [[62], "collision", [15.0]], [63, "lost_success", null], [[63, 64], "collision", [16.49, 17.68]], [65, "success", null], [[65, 66], "collision", [18.75, 18.01]], [67, "lost_success", null], [[67, 68, 69, 70, 71, 72], "collision", [17.14, 16.43, 18.13, 17.38, 17.43, 14.04]], [73, "success", null], [[73, 74, 75, 76, 77, 78, 79], "collision", [14.06, 17.24, 15.69, 16.71, 15.4, 14.91, 16.03]], [80, "lost_success", null], [[80, 81], "collision", [13.3, 11.79]], [82, "success", null], [[82, 83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [12.53, 12.55, 12.25, 14.21, 12.92, 15.91, 28.61, 17.35, 13.46, 11.7]], [92, "lost_success", null], [[92], "collision", [14.14]], [93, "success", null], [[93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104], "collision", [13.65, 13.82, 14.35, 13.69, 14.11, 11.99, 17.29, 24.63, 20.02, 16.0, 14.66, 14.87]], [105, "lost_success", null], [[105], "collision", [16.19]], [106, "success", null], [[106, 107, 108, 109, 110, 111, 112], "collision", [17.28, 15.3, 16.85, 14.89, 14.54, 15.81, 12.54]], [113, "lost_success", null], [[113, 114, 115, 116, 117, 118], "collision", [17.17, 15.81, 12.98, 15.26, 11.46, 15.44]], [119, "success", null], [[119, 120, 121, 122, 123, 124, 125, 126, 127], "collision", [14.74, 14.72, 12.32, 13.67, 11.49, 16.14, 16.12, 15.1, 16.16]], [128, "lost_success", null], [[128, 129], "collision", [15.34, 16.42]], [130, "success", null], [[130, 131], "collision", [13.77, 10.05]], [132, "lost_success", null], [[132, 133, 134, 135], "collision", [12.83, 13.07, 15.28, 15.21]], [136, "success", null], [[136, 137, 138, 139, 140, 141, 142], "collision", [15.01, 15.8, 16.11, 15.92, 15.23, 14.97, 15.85]], [143, "lost_success", null], [[143, 144, 145], "collision", [13.61, 15.45, 14.87]], [146, "success", null], [[146, 147, 148, 149, 150, 151, 152, 153], "collision", [14.52, 12.85, 13.49, 13.73, 17.0, 17.98, 13.9, 15.79]], [154, "lost_success", null], [[154, 155, 156, 157], "collision", [15.06, 15.43, 16.69, 19.14]], [158, "success", null], [[158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172], "collision", [15.39, 15.7, 15.31, 17.49, 15.55, 16.72, 14.87, 15.03, 16.45, 16.98, 15.14, 15.55, 17.31, 14.5, 13.59]], [173, "lost_success", null], [[173, 174], "collision", [15.42, 14.9]], [175, "success", null], [[175, 176, 177, 178], "collision", [14.34, 14.5, 16.16, 16.94]], [179, "lost_success", null], [[179], "collision", [14.27]], [180, "success", null], [[180, 181], "collision", [15.17, 15.74]], [182, "lost_success", null], [[182, 183, 184, 185, 186, 187, 188], "collision", [15.19, 13.77, 16.38, 16.7, 15.93, 17.81, 15.08]], [189, "success", null], [[189], "collision", [13.37]], [190, "lost_success", null], [[190, 191, 192, 193], "collision", [14.32, 15.55, 16.1, 14.35]], [194, "success", null], [[194, 195, 196, 197, 198, 199], "collision", [14.88, 14.84, 13.91, 15.39, 12.88, 14.3]]], + "articulation_type": "fridge", + "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": 17, + "task_plan_idx": 109, + "init_config_idx": 133, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [701.98]], [17, "contact", null], [17, "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, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67], "collision", [51.68, 8.44, 7.29, 8.5, 7.25, 13.8, 8.73, 8.7, 9.59, 8.26, 5.91, 11.98, 6.28, 6.95, 6.15, 8.52, 6.81, 7.91, 7.11, 6.64, 6.71, 6.88, 7.57, 6.25, 8.93, 8.76, 7.46, 6.06, 7.9, 9.62, 7.77, 8.58, 7.73, 8.19, 7.8, 7.4, 7.98, 7.58, 9.93, 8.44, 9.24, 6.98, 8.67, 9.16, 8.68]], [68, "success", null], [[68], "collision", [8.89]], [69, "lost_success", null], [[69, 70, 71, 72, 73], "collision", [9.16, 7.56, 7.96, 8.29, 8.75]], [74, "success", null], [[74, 75], "collision", [7.1, 8.34]], [76, "lost_success", null], [[76, 77, 78], "collision", [8.89, 8.45, 9.03]], [79, "success", null], [[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", [8.59, 8.89, 8.55, 9.01, 9.21, 7.46, 7.57, 7.88, 9.72, 8.17, 9.59, 9.81, 10.08, 8.59, 8.36, 10.12, 10.07, 9.51, 7.88, 8.99, 9.2, 8.41, 9.0, 9.24, 9.85, 9.2, 10.67, 9.86, 8.51, 10.84, 10.34, 8.79, 9.34, 9.72, 9.95, 8.51]], [115, "lost_success", null], [[115], "collision", [8.27]], [116, "success", null], [[116], "collision", [8.83]], [117, "lost_success", null], [[117], "collision", [8.06]], [118, "success", null], [[118], "collision", [8.25]], [119, "lost_success", null], [[119], "collision", [7.92]], [120, "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, 163, 164, 165, 166, 167, 168, 169], "collision", [7.04, 8.01, 7.54, 9.25, 10.27, 9.25, 10.75, 9.45, 9.89, 9.93, 10.19, 8.87, 10.77, 9.37, 8.91, 9.24, 7.87, 7.64, 8.52, 9.83, 9.58, 7.91, 8.44, 10.52, 8.12, 8.55, 9.83, 11.08, 8.56, 9.84, 10.43, 9.01, 8.49, 8.69, 8.69, 9.94, 11.28, 10.03, 10.06, 10.82, 8.4, 7.58, 7.21, 6.86, 7.61, 9.83, 7.59, 8.82, 9.11, 8.03]], [170, "lost_success", null], [[170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183], "collision", [8.24, 7.94, 7.78, 7.52, 8.76, 8.87, 9.78, 9.55, 9.79, 10.38, 10.92, 9.26, 8.65, 11.27]], [184, "success", null], [[184], "collision", [9.83]], [185, "lost_success", null], [[185, 186, 187, 188, 189], "collision", [10.01, 11.26, 9.09, 8.82, 8.34]], [190, "success", null], [[190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [9.51, 8.36, 9.28, 9.11, 8.72, 9.44, 9.12, 9.74, 10.06, 11.35]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 18, + "task_plan_idx": 7, + "init_config_idx": 124, + "spawn_selection_idx": 99, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 20, 21], "collision", [85.92, 9.5, 105.84, 2334.4]], [23, "contact", null], [24, "grasped", null], [50, "success", null], [57, "lost_success", null], [70, "success", null], [72, "lost_success", null], [73, "success", null], [86, "lost_success", null], [89, "success", null], [108, "lost_success", null], [109, "success", null], [113, "lost_success", null], [128, "success", null], [177, "lost_success", null], [178, "success", null], [192, "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": 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": 19, + "task_plan_idx": 68, + "init_config_idx": 35, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19], "collision", [84.98, 57.55]], [21, "contact", null], [21, "grasped", null], [[22, 24], "collision", [3.31, 2.57]], [47, "success", null], [48, "lost_success", null], [49, "success", null], [62, "lost_success", null], [63, "success", null], [67, "lost_success", null], [68, "success", null], [96, "lost_success", null], [97, "success", null], [98, "lost_success", null], [99, "success", null], [100, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [162, "lost_success", null], [163, "success", null], [171, "lost_success", null], [172, "success", null], [175, "lost_success", null], [176, "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": 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": 20, + "task_plan_idx": 119, + "init_config_idx": 131, + "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], [21, "grasped", null], [[21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 37], "collision", [57.92, 59.04, 25.04, 26.95, 21.68, 18.56, 29.19, 15.49, 15.2, 944.85, 870.69, 901.47, 0.06, 0.08]], [46, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [51, "success", null], [105, "lost_success", null], [129, "success", null], [130, "lost_success", null], [136, "success", null], [141, "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": 20, + "task_plan_idx": 157, + "init_config_idx": 44, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [59, "lost_success", null], [61, "success", null], [[79, 80, 81, 83, 84, 85, 88, 90, 91, 95, 98, 102, 107, 111, 113], "collision", [0.96, 0.11, 0.25, 0.42, 0.26, 0.22, 0.26, 0.45, 0.41, 0.4, 0.22, 0.15, 0.29, 0.43, 0.32]], [119, "lost_success", null], [120, "success", null], [[139, 140, 142], "collision", [0.21, 0.07, 0.01]], [153, "lost_success", null], [155, "success", null], [175, "lost_success", null], [176, "success", null], [178, "lost_success", null], [179, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 21, + "task_plan_idx": 84, + "init_config_idx": 93, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [660.34, 155.44]], [18, "contact", null], [18, "grasped", null], [40, "success", null], [48, "lost_success", null], [66, "success", null], [68, "lost_success", null], [76, "success", null], [77, "lost_success", null], [80, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 2, + "init_config_idx": 158, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21, 22, 24, 25], "collision", [351.07, 2170.64, 460.91, 473.47]], [26, "contact", null], [27, "lost_contact", null], [28, "contact", null], [28, "grasped", null], [[30, 31], "collision", [12.25, 0.6]], [92, "success", null], [104, "lost_success", null], [111, "success", null], [126, "lost_success", null], [127, "success", null], [142, "lost_success", null], [145, "success", null], [147, "lost_success", null], [178, "success", null], [179, "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": 21, + "task_plan_idx": 52, + "init_config_idx": 116, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 22, 23, 24, 25, 26, 27, 28, 29], "collision", [95.98, 165.6, 182.94, 150.12, 128.03, 140.94, 29.16, 112.96, 198.37]], [31, "contact", null], [[31, 32, 33, 34, 35], "collision", [322.33, 85.58, 45.3, 42.58, 433.42]], [36, "grasped", null], [[36], "collision", [292.63]], [197, "success", null]], + "articulation_type": "fridge", + "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": 22, + "task_plan_idx": 52, + "init_config_idx": 23, + "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], [22, "grasped", null], [[33, 34, 35, 48, 49, 50, 51], "collision", [255.49, 208.59, 191.84, 57.56, 70.79, 50.22, 10.28]], [52, "success", null], [73, "lost_success", null], [75, "success", null], [76, "lost_success", null], [77, "success", null], [137, "lost_success", null], [139, "success", null], [164, "lost_success", null], [166, "success", null], [197, "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": 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": 22, + "task_plan_idx": 130, + "init_config_idx": 126, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5], "collision", [401.29, 539.6]], [9, "contact", null], [11, "lost_contact", null], [12, "contact", null], [12, "grasped", null], [[33, 34], "collision", [3.27, 4.22]], [35, "success", null], [[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, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [11.8, 2.95, 3.41, 5.41, 4.14, 3.03, 16.52, 8.14, 4.38, 3.91, 8.26, 4.61, 7.81, 7.96, 4.04, 3.9, 3.92, 3.9, 3.92, 3.9, 3.91, 3.9, 3.91, 7.81, 8.2, 4.13, 4.76, 4.73, 4.96, 7.94, 4.13, 8.02, 7.67, 3.91, 7.86, 3.87, 4.08, 7.83, 8.38, 4.68, 8.01, 4.77, 7.76, 4.04, 3.9, 3.85, 4.61, 7.83, 4.13, 4.07, 7.84, 8.02, 4.06, 4.66, 5.19, 3.91, 3.91, 7.81, 9.21, 8.67]], [95, "lost_success", null], [[95], "collision", [7.76]], [96, "success", null], [[96, 97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [4.85, 3.84, 4.61, 8.15, 7.8, 4.7, 3.91, 3.91, 3.91, 3.91]], [106, "lost_success", null], [[106, 107, 108, 109, 110, 111], "collision", [3.91, 3.91, 3.9, 3.9, 3.9, 3.91]], [112, "success", null], [[112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126], "collision", [3.9, 3.91, 4.77, 3.91, 3.91, 3.91, 3.91, 3.91, 3.91, 3.97, 4.36, 8.22, 7.96, 7.78, 3.9]], [127, "lost_success", null], [[127], "collision", [4.43]], [128, "success", null], [[128, 129, 130, 131], "collision", [7.82, 3.91, 3.9, 3.9]], [132, "lost_success", null], [[132], "collision", [3.91]], [133, "success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 141], "collision", [3.91, 3.91, 3.91, 3.91, 3.91, 3.9, 3.89, 3.9, 3.91]], [142, "lost_success", null], [[142], "collision", [3.9]], [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, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.91, 3.9, 3.92, 3.91, 3.91, 3.91, 3.91, 3.91, 3.91, 3.9, 3.92, 3.9, 3.91, 3.91, 3.9, 3.9, 3.91, 3.9, 3.9, 3.91, 3.91, 3.91, 3.91, 3.9, 3.91, 3.91, 3.91, 3.91, 3.91, 3.91, 3.9, 3.91, 3.91, 3.9, 3.91, 3.9, 3.91, 3.91, 3.91, 3.9, 3.91, 3.9, 3.91, 3.91, 3.9, 3.9, 3.91, 3.91, 3.91, 3.91, 3.91, 3.91, 3.91, 3.91, 3.92, 3.9, 3.91]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 22, + "task_plan_idx": 104, + "init_config_idx": 112, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [52, "success", null], [78, "lost_success", null], [79, "success", null], [84, "lost_success", null], [85, "success", null], [100, "lost_success", null], [146, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 22, + "task_plan_idx": 68, + "init_config_idx": 72, + "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], [16, "grasped", null], [36, "success", null], [47, "lost_success", null], [90, "success", null], [109, "lost_success", null], [116, "success", null], [120, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null], [165, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 23, + "task_plan_idx": 93, + "init_config_idx": 165, + "spawn_selection_idx": 11, + "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], [47, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [87, "lost_success", null], [88, "success", null], [190, "lost_success", null], [192, "success", null], [193, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 67, + "init_config_idx": 88, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [[21], "collision", [127.71]], [22, "grasped", null], [[22, 24, 28, 29, 31], "collision", [0.48, 2020.05, 1.2, 1.1, 1.65]], [76, "success", null], [77, "lost_success", null], [78, "success", null], [85, "lost_success", null], [86, "success", null], [109, "lost_success", null], [121, "success", null]], + "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": 25, + "task_plan_idx": 113, + "init_config_idx": 121, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [95.84]], [17, "contact", null], [17, "grasped", null], [36, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [62, "success", null], [64, "lost_success", null], [67, "success", null], [68, "lost_success", null], [70, "success", null], [72, "lost_success", null], [73, "success", null], [75, "lost_success", null], [76, "success", null], [79, "lost_success", null], [81, "success", null], [[83], "collision", [36.98]], [84, "lost_success", null], [85, "success", null], [95, "lost_success", null], [96, "success", null], [[99, 100, 102, 103, 105], "collision", [20.99, 10.28, 5.98, 18.31, 14.39]], [107, "lost_success", null], [[108, 109], "collision", [45.16, 4.4]], [110, "success", null], [[111, 112, 113, 114, 116, 118, 122, 123, 126, 127, 128, 129, 130, 136, 139, 142, 143, 144, 146, 147, 148, 152, 153, 159, 160, 161, 162, 163, 165, 166, 167, 170, 172, 174, 176], "collision", [15.8, 22.51, 18.83, 13.75, 58.08, 109.94, 7.34, 18.54, 11.51, 11.18, 13.79, 14.67, 28.11, 18.51, 79.31, 16.22, 31.0, 24.88, 13.1, 24.31, 6.12, 27.2, 18.48, 28.75, 13.35, 38.59, 18.97, 22.01, 37.2, 17.64, 3.6, 4.02, 8.62, 18.18, 16.77]], [177, "lost_success", null], [[177], "collision", [34.38]], [178, "success", null], [[179, 180, 181, 182, 183, 184, 188, 190, 191, 192, 196, 198], "collision", [69.06, 17.29, 10.28, 11.92, 17.07, 22.81, 15.07, 18.91, 13.6, 10.15, 14.05, 16.42]]], + "articulation_type": "fridge", + "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": 26, + "task_plan_idx": 55, + "init_config_idx": 59, + "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], [20, "grasped", null], [[24], "collision", [508.16]], [40, "success", null], [45, "lost_success", null], [49, "success", null], [56, "lost_success", null], [63, "success", null], [64, "lost_success", null], [68, "success", null], [77, "lost_success", null], [78, "success", null], [80, "lost_success", null], [[83, 84], "collision", [1.82, 0.75]], [88, "success", null], [[88], "collision", [2.7]], [89, "lost_success", null], [[90, 92, 110, 111, 112, 113, 138, 139, 141, 142, 143, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 166, 172, 173, 174, 176], "collision", [1.23, 1.46, 3.22, 0.27, 0.68, 0.59, 0.9, 0.55, 0.94, 0.49, 0.21, 1.7, 0.76, 0.59, 0.77, 0.59, 2.54, 5.05, 13.58, 0.3, 1.05, 0.78, 1.92, 0.05, 0.32, 0.61, 0.48, 0.58, 0.69]], [180, "success", null], [[180], "collision", [0.08]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 26, + "task_plan_idx": 100, + "init_config_idx": 97, + "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], [22, "grasped", null], [[38], "collision", [37.37]], [45, "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, 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], "collision", [49.7, 43.71, 38.34, 56.84, 38.44, 35.58, 31.53, 30.86, 27.24, 31.39, 20.94, 31.86, 23.31, 34.75, 30.78, 30.68, 29.89, 28.78, 30.16, 26.94, 21.79, 26.15, 27.05, 25.76, 29.67, 30.82, 24.26, 34.7, 36.18, 31.91, 40.15, 38.54, 36.43, 40.17, 39.89, 40.11, 34.48, 37.92, 38.58, 32.05, 25.34, 29.88, 30.37, 33.56, 28.27, 32.62, 31.42, 30.8, 30.64, 31.45, 25.13, 30.13, 27.45, 32.17, 27.36, 17.73, 22.2, 21.5, 16.59, 22.29, 23.98, 17.25, 25.59, 24.47, 25.33, 22.25, 22.45, 22.74, 26.88, 27.21, 26.69, 34.21, 23.72, 35.75, 31.77, 19.84, 25.05, 29.16, 28.59, 28.17, 54.43, 32.84, 34.76]], [130, "lost_success", null], [[130, 131, 132, 133, 134, 135, 136], "collision", [47.61, 61.52, 42.62, 44.82, 47.24, 50.59, 0.46]], [137, "success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [0.86, 0.68, 6.49, 42.42, 26.64, 29.74, 19.77, 16.99, 14.89]], [177, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 27, + "task_plan_idx": 15, + "init_config_idx": 152, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [90.65]], [17, "contact", null], [17, "grasped", null], [43, "success", null], [68, "lost_success", null], [69, "success", null], [79, "lost_success", null], [80, "success", null], [106, "lost_success", null], [107, "success", null], [131, "lost_success", null], [132, "success", null], [143, "lost_success", null], [145, "success", null], [[197, 198, 199], "collision", [27.52, 31.14, 68.89]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 27, + "task_plan_idx": 22, + "init_config_idx": 92, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [723.3, 264.58]], [19, "contact", null], [19, "grasped", null], [[19, 35, 36, 37, 38], "collision", [375.4, 57.99, 64.8, 47.12, 52.08]], [39, "success", null], [[39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49], "collision", [19.98, 36.98, 46.07, 67.09, 39.41, 57.01, 36.11, 60.96, 38.67, 56.96, 14.86]], [51, "lost_success", null], [56, "success", null], [67, "lost_success", null], [70, "success", null], [97, "lost_success", null], [99, "success", null], [[101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [54.6, 70.22, 68.99, 68.77, 46.85, 50.36, 60.04, 20.1, 28.31, 75.85]], [111, "lost_success", null], [[111], "collision", [28.56]], [112, "success", null], [[112], "collision", [46.43]], [113, "lost_success", null], [116, "success", null], [[116, 117, 118], "collision", [66.87, 73.29, 43.94]], [120, "lost_success", null], [121, "success", null], [[123, 128, 130], "collision", [22.87, 30.31, 18.04]], [131, "lost_success", null], [[131], "collision", [13.17]], [132, "success", null], [133, "lost_success", null], [150, "success", null], [160, "lost_success", null], [168, "success", null], [173, "lost_success", null], [181, "success", null], [189, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 28, + "task_plan_idx": 137, + "init_config_idx": 90, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 19, 23, 31, 32, 33, 39, 42, 43, 46, 47], "collision", [229.98, 122.36, 387.91, 125.45, 252.92, 291.66, 248.69, 151.16, 695.03, 172.94, 229.66, 135.88]], [48, "contact", null], [[48], "collision", [1.57]], [49, "grasped", null], [65, "success", null], [93, "lost_success", null], [94, "success", null], [115, "lost_success", null], [116, "success", null], [129, "lost_success", null], [130, "success", null], [132, "lost_success", null], [138, "success", null], [142, "lost_success", null], [144, "success", null], [153, "lost_success", null], [156, "success", null], [159, "lost_success", null], [161, "success", null], [189, "lost_success", null], [192, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 28, + "task_plan_idx": 138, + "init_config_idx": 142, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [299.18, 207.19]], [17, "contact", null], [17, "grasped", null], [[18], "collision", [3077.71]], [35, "success", null], [40, "lost_success", null], [42, "success", null], [43, "lost_success", null], [45, "success", null], [51, "lost_success", null], [52, "success", null], [59, "lost_success", null], [63, "success", null], [72, "lost_success", null], [73, "success", null], [164, "lost_success", null], [167, "success", null], [169, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 29, + "task_plan_idx": 3, + "init_config_idx": 42, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4], "collision", [253.71]], [21, "contact", null], [[21], "collision", [438.09]], [22, "grasped", null], [47, "success", null], [[50, 51, 52], "collision", [0.04, 0.01, 0.27]], [53, "lost_success", null], [[53, 54], "collision", [0.21, 0.13]], [55, "success", null], [[55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65], "collision", [0.13, 0.1, 0.1, 0.19, 0.36, 0.29, 0.29, 0.35, 0.32, 0.33, 0.44]], [66, "lost_success", null], [[66], "collision", [0.34]], [67, "success", null], [[67, 68, 69, 70, 71, 72, 73], "collision", [0.36, 0.35, 0.34, 0.35, 0.31, 0.32, 0.33]], [74, "lost_success", null], [[74], "collision", [0.34]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86], "collision", [0.32, 0.34, 0.34, 0.34, 0.35, 0.35, 0.35, 0.27, 0.19, 0.19, 0.19, 0.19]], [87, "lost_success", null], [[87], "collision", [0.19]], [88, "success", null], [[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, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [0.13, 0.0, 0.0, 0.0, 0.01, 0.01, 0.01, 0.12, 0.09, 0.17, 0.16, 0.17, 0.16, 0.2, 0.13, 0.12, 0.14, 0.12, 0.16, 0.09, 0.16, 0.14, 0.16, 0.15, 0.18, 0.14, 0.16, 0.09, 0.16, 0.13, 0.16, 0.12, 0.1, 0.07, 0.0, 0.0, 0.0, 0.0, 0.13, 0.14, 0.11, 0.14, 0.09, 0.13, 0.12, 0.17, 0.12, 0.04, 0.0, 0.0]], [146, "lost_success", null], [148, "success", null], [149, "lost_success", null], [150, "success", null], [151, "lost_success", null], [153, "success", null], [167, "lost_success", null], [168, "success", null], [175, "lost_success", null], [[178, 179, 180, 181, 182, 183, 184, 185], "collision", [0.17, 0.09, 0.09, 0.25, 0.19, 0.2, 0.17, 0.03]], [186, "success", null], [[186, 187], "collision", [0.01, 0.0]], [188, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 30, + "task_plan_idx": 140, + "init_config_idx": 68, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13], "collision", [226.5, 215.03, 187.18, 137.64]], [15, "contact", null], [16, "grasped", null], [42, "success", null], [45, "lost_success", null], [46, "success", null], [49, "lost_success", null], [56, "success", null], [79, "lost_success", null], [80, "success", null], [81, "lost_success", null], [82, "success", null], [83, "lost_success", null], [85, "success", null], [108, "lost_success", null], [109, "success", null], [113, "lost_success", null], [114, "success", null], [125, "lost_success", null], [126, "success", null], [140, "lost_success", null], [142, "success", null], [150, "lost_success", null], [151, "success", null], [165, "lost_success", null], [166, "success", null], [169, "lost_success", null], [170, "success", null], [171, "lost_success", null], [175, "success", null], [177, "lost_success", null], [187, "success", null], [188, "lost_success", null], [189, "success", null], [191, "lost_success", null], [192, "success", null], [195, "lost_success", null], [196, "success", null], [197, "lost_success", null], [[198], "collision", [120.48]]], + "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": 30, + "task_plan_idx": 154, + "init_config_idx": 77, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [177.63]], [22, "contact", null], [22, "grasped", null], [[27, 28], "collision", [3.02, 1.04]], [45, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [53, "success", null], [54, "lost_success", null], [56, "success", null], [63, "lost_success", null], [71, "success", null], [76, "lost_success", null], [104, "success", null], [105, "lost_success", null], [106, "success", null], [111, "lost_success", null], [119, "success", null], [121, "lost_success", null], [124, "success", null], [125, "lost_success", null], [130, "success", null], [131, "lost_success", null], [132, "success", null], [147, "lost_success", null], [181, "success", null], [184, "lost_success", null], [185, "success", null], [186, "lost_success", null], [187, "success", null], [188, "lost_success", null], [189, "success", null], [193, "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": 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": 31, + "task_plan_idx": 61, + "init_config_idx": 63, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [[19], "collision", [251.49]], [44, "success", null], [45, "lost_success", null], [48, "success", null], [51, "lost_success", null], [59, "success", null], [61, "lost_success", null], [99, "success", null], [102, "lost_success", null], [106, "success", null], [[106], "collision", [155.86]], [107, "lost_success", null], [[107], "collision", [35.73]], [108, "success", null], [[108, 109, 110], "collision", [60.81, 56.45, 36.45]], [111, "lost_success", null], [[111], "collision", [52.22]], [140, "success", null], [142, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 31, + "task_plan_idx": 162, + "init_config_idx": 140, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8], "collision", [240.93, 231.5]], [10, "contact", null], [10, "grasped", null], [23, "success", null], [120, "lost_success", null], [122, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 31, + "task_plan_idx": 117, + "init_config_idx": 144, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4], "collision", [587.01]], [16, "contact", null], [16, "grasped", null], [33, "success", null], [57, "lost_success", null], [58, "success", null], [120, "lost_success", null], [121, "success", null], [154, "lost_success", null], [156, "success", null], [158, "lost_success", null], [173, "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": 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": 32, + "task_plan_idx": 56, + "init_config_idx": 136, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7], "collision", [126.74]], [13, "contact", null], [13, "grasped", null], [[17, 18, 19, 20, 21, 22, 23, 24], "collision", [14.82, 11.2, 29.4, 11.64, 11.03, 10.65, 12.4, 11.78]], [25, "success", null], [[25, 26, 27, 28, 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], "collision", [12.04, 13.53, 6.74, 6.78, 0.12, 7.29, 7.15, 10.1, 13.55, 14.74, 14.85, 15.39, 14.69, 15.06, 17.05, 16.73, 16.01, 16.24, 17.54, 16.91, 18.36, 18.95, 19.57, 19.9, 20.95, 16.17, 15.72, 16.98, 18.56, 17.8, 17.3, 17.98, 16.15, 14.99, 15.78, 11.48, 9.92, 11.35, 10.91, 11.76]], [68, "lost_success", null], [[68], "collision", [9.66]], [69, "success", null], [[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], "collision", [13.12, 9.91, 12.26, 10.54, 10.99, 9.41, 9.49, 8.76, 9.08, 10.51, 9.62, 9.92, 7.17, 6.8, 7.95, 7.21, 8.15, 5.62, 7.96, 7.42, 7.17, 6.38, 6.0, 5.11, 7.84, 4.61, 5.85, 6.75, 6.86, 6.5, 6.92, 7.21, 6.88, 6.9, 7.15, 6.34, 4.86, 6.47, 5.7, 5.92, 4.57, 5.84, 5.07, 6.45, 6.1, 5.96]], [115, "lost_success", null], [[115], "collision", [10.36]], [116, "success", null], [[116], "collision", [8.09]], [117, "lost_success", null], [[117], "collision", [10.98]], [118, "success", null], [[118, 119, 120, 121, 122, 123], "collision", [11.14, 11.08, 11.39, 11.82, 11.17, 11.41]], [124, "lost_success", null], [[124], "collision", [12.36]], [125, "success", null], [[125, 126], "collision", [11.89, 12.33]], [127, "lost_success", null], [[127], "collision", [13.46]], [128, "success", null], [[128, 129, 130, 131, 132, 133, 134, 135], "collision", [12.18, 11.59, 12.69, 13.08, 12.05, 12.48, 12.13, 12.08]], [136, "lost_success", null], [[136, 137], "collision", [11.82, 12.68]], [138, "success", null], [[138], "collision", [12.79]], [139, "lost_success", null], [[139], "collision", [13.09]], [140, "success", null], [[140], "collision", [12.03]], [141, "lost_success", null], [[141], "collision", [13.73]], [142, "success", null], [[142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155], "collision", [13.26, 13.65, 13.0, 13.74, 13.25, 12.94, 12.64, 12.26, 12.61, 11.39, 13.14, 13.1, 12.47, 13.46]], [156, "lost_success", null], [[156], "collision", [13.4]], [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, 193, 194, 195, 196, 197, 198, 199], "collision", [11.98, 13.0, 13.42, 12.67, 17.12, 17.52, 17.62, 17.99, 17.43, 17.73, 18.13, 17.95, 17.84, 17.55, 17.88, 17.8, 18.17, 18.31, 17.56, 19.0, 17.44, 17.04, 18.61, 16.72, 18.8, 17.27, 19.05, 19.4, 19.55, 19.66, 19.94, 19.89, 19.91, 19.77, 15.47, 17.38, 18.98, 18.0, 19.06, 16.94, 16.69, 17.43, 17.57]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 32, + "task_plan_idx": 66, + "init_config_idx": 11, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7], "collision", [569.75]], [13, "contact", null], [14, "lost_contact", null], [15, "contact", null], [15, "grasped", null], [29, "success", null], [33, "lost_success", null], [35, "success", null], [86, "lost_success", null], [88, "success", null], [90, "lost_success", null], [93, "success", null], [94, "lost_success", null], [95, "success", null], [96, "lost_success", null], [98, "success", null], [104, "lost_success", null], [108, "success", null], [110, "lost_success", null], [111, "success", null], [189, "lost_success", null], [194, "success", null], [195, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 32, + "task_plan_idx": 118, + "init_config_idx": 54, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5], "collision", [211.06]], [17, "contact", null], [17, "grasped", null], [38, "success", null], [44, "lost_success", null], [45, "success", null], [[50, 51, 52], "collision", [1.27, 1.1, 0.55]], [154, "lost_success", null], [155, "success", null], [[185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [2.88, 2.04, 1.76, 2.25, 1.97, 1.87, 1.92, 2.1, 2.4, 2.18, 2.19, 2.38, 2.4, 2.34, 2.27]]], + "articulation_type": "fridge", + "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": 32, + "task_plan_idx": 171, + "init_config_idx": 171, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6], "collision", [260.86, 202.25, 199.19]], [13, "contact", null], [14, "grasped", null], [[21, 22, 23, 24, 25], "collision", [79.18, 58.33, 53.56, 33.76, 30.38]], [26, "success", null], [[26], "collision", [28.72]], [27, "lost_success", null], [[27], "collision", [2.63]], [28, "success", null], [[28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 42], "collision", [1.27, 1.15, 1.57, 1.17, 1.56, 1.2, 0.75, 1.3, 1.41, 1.44, 1.24, 1.18, 0.22]], [43, "lost_success", null], [[43], "collision", [0.11]], [44, "success", null], [45, "lost_success", null], [[45, 46], "collision", [0.48, 1.18]], [47, "success", null], [[47], "collision", [0.8]], [48, "lost_success", null], [[48, 49, 50, 51, 52, 53, 54, 55, 56], "collision", [0.05, 1.49, 0.75, 1.0, 0.56, 0.42, 0.38, 0.45, 0.6]], [57, "success", null], [[57], "collision", [0.67]], [58, "lost_success", null], [[58, 59, 60, 61, 62, 63], "collision", [0.52, 0.67, 0.8, 0.69, 0.72, 0.54]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [0.36, 0.74, 1.06, 0.77, 1.04, 0.98, 0.59, 0.89, 0.86, 0.72, 0.69, 0.82, 0.66, 0.74, 0.16]], [79, "lost_success", null], [[79, 81, 83, 84, 85], "collision", [0.01, 0.16, 0.09, 1.13, 0.81]], [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, 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], "collision", [0.74, 0.89, 0.77, 0.81, 1.06, 1.12, 1.16, 0.99, 0.91, 0.48, 0.73, 0.67, 0.98, 0.81, 0.36, 0.77, 0.78, 0.66, 0.61, 0.82, 0.8, 0.38, 0.62, 0.52, 0.97, 0.68, 0.82, 1.02, 0.73, 0.48, 0.74, 0.96, 0.97, 0.58, 0.61, 0.81, 0.75, 0.61, 0.98, 0.8, 0.92, 1.02, 0.99, 0.72, 0.67, 0.62, 0.79, 0.76, 0.87, 0.69, 0.94, 0.84, 0.34, 3.46, 0.16, 19.23, 22.08, 12.99, 8.26, 9.14, 8.61, 9.11, 10.31, 9.55, 14.17, 14.9, 14.96, 15.99, 11.33, 10.75, 10.54, 13.31, 14.25, 14.49, 16.99, 19.67, 19.25, 19.71, 26.54, 28.24, 24.22, 19.38, 13.84, 3.98]], [177, "lost_success", null], [178, "success", null], [[188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [6.45, 10.63, 10.72, 12.31, 14.23, 44.39, 39.45, 34.07, 35.73, 38.45, 51.8, 45.91]]], + "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": 33, + "task_plan_idx": 15, + "init_config_idx": 114, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [210.41]], [15, "contact", null], [15, "grasped", null], [[20, 21], "collision", [263.38, 211.8]], [54, "success", null], [55, "lost_success", null], [58, "success", null], [82, "lost_success", null], [83, "success", null], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [104, "success", null]], + "articulation_type": "fridge", + "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": 33, + "task_plan_idx": 130, + "init_config_idx": 130, + "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], "collision", [2315.7, 204.26, 200.44]], [12, "contact", null], [12, "grasped", null], [27, "success", null], [29, "lost_success", null], [30, "success", null], [34, "lost_success", null], [42, "success", null], [45, "lost_success", null], [46, "success", null], [50, "lost_success", null], [51, "success", null], [54, "lost_success", null], [60, "success", null], [62, "lost_success", null], [67, "success", null], [68, "lost_success", null], [69, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 34, + "task_plan_idx": 60, + "init_config_idx": 153, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 19], "collision", [288.05, 0.1]], [21, "contact", null], [21, "grasped", null], [[25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38], "collision", [0.72, 2.57, 2.81, 3.14, 6.16, 6.9, 10.04, 3.46, 2.95, 7.89, 7.28, 6.93, 6.53, 6.58]], [39, "success", null], [[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, 81, 82, 83, 84, 85], "collision", [6.5, 5.95, 5.88, 6.76, 6.54, 6.23, 6.69, 6.13, 6.75, 7.06, 6.81, 6.06, 5.56, 6.28, 6.19, 6.38, 6.69, 6.98, 6.7, 7.01, 6.67, 6.4, 6.5, 6.64, 6.33, 6.32, 6.7, 6.58, 6.94, 6.72, 7.18, 6.67, 6.49, 6.95, 6.57, 6.55, 6.76, 6.63, 6.65, 6.37, 6.58, 6.8, 6.76, 6.23, 6.33, 7.09, 6.47]], [86, "lost_success", null], [[86, 87, 88, 89], "collision", [6.52, 6.28, 6.77, 6.37]], [90, "success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [6.36, 6.26, 6.34, 6.75, 6.91, 6.66, 6.61, 6.37, 5.85, 6.88, 6.31]], [101, "lost_success", null], [[101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111], "collision", [6.96, 6.76, 6.71, 6.55, 7.03, 6.43, 6.6, 5.98, 6.95, 6.28, 6.23]], [112, "success", null], [[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], "collision", [6.22, 6.32, 6.16, 6.99, 6.55, 6.57, 6.83, 6.53, 6.66, 6.42, 6.52, 6.2, 6.98, 6.37, 6.5, 6.63, 6.23, 6.43, 6.41, 6.42, 6.24, 6.43, 6.66, 6.39, 6.34, 6.66, 6.65, 6.54, 6.36, 6.14, 6.77, 6.49]], [144, "lost_success", null], [[144, 145, 146, 147, 148], "collision", [6.46, 6.28, 6.26, 6.69, 6.72]], [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, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [6.54, 6.22, 6.29, 6.4, 6.42, 6.55, 6.25, 6.54, 6.82, 6.56, 6.37, 6.35, 6.59, 6.32, 6.29, 6.68, 7.01, 6.79, 6.52, 6.32, 6.79, 6.63, 6.68, 6.73, 6.72, 6.27, 6.53, 6.66, 6.45, 6.32, 6.8, 6.52, 6.22, 6.0, 6.68, 6.15, 6.08, 6.57, 6.64, 6.35, 6.32, 6.5, 6.56, 5.98, 6.39, 6.5, 6.81, 6.41, 6.17, 6.45, 6.11]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 133, + "init_config_idx": 53, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8], "collision", [900.12, 251.13]], [9, "contact", null], [10, "grasped", null], [23, "success", null], [25, "lost_success", null], [41, "success", null], [54, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [62, "lost_success", null], [63, "success", null], [65, "lost_success", null], [69, "success", null], [74, "lost_success", null], [78, "success", null], [82, "lost_success", null], [85, "success", null], [108, "lost_success", null], [112, "success", null], [150, "lost_success", null], [151, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 102, + "init_config_idx": 66, + "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", [300.56, 511.24, 280.31, 236.63, 229.9]], [17, "contact", null], [18, "grasped", null], [43, "success", null], [52, "lost_success", null], [53, "success", null], [68, "lost_success", null], [70, "success", null], [75, "lost_success", null], [77, "success", null], [98, "lost_success", null], [102, "success", null], [104, "lost_success", null], [105, "success", null], [143, "lost_success", null], [148, "success", null], [149, "lost_success", null], [151, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [175, "success", null], [179, "lost_success", null]], + "articulation_type": "fridge", + "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": 35, + "task_plan_idx": 36, + "init_config_idx": 42, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17], "collision", [0.53, 0.04]], [19, "contact", null], [19, "grasped", null], [[19, 64, 66, 67, 68, 69], "collision", [373.45, 1556.08, 80.3, 147.06, 159.15, 143.52]], [112, "success", null], [139, "lost_success", null], [140, "success", null], [153, "lost_success", null], [161, "success", null], [162, "lost_success", null], [177, "success", null], [178, "lost_success", null], [179, "success", null], [181, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "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": 35, + "task_plan_idx": 13, + "init_config_idx": 35, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 18], "collision", [1421.44, 2150.05]], [19, "contact", null], [19, "grasped", null], [33, "success", null], [37, "lost_success", null], [42, "success", null], [53, "lost_success", null], [54, "success", null], [57, "lost_success", null], [61, "success", null], [71, "lost_success", null], [72, "success", null], [112, "lost_success", null], [116, "success", null], [136, "lost_success", null], [138, "success", null], [144, "lost_success", null], [146, "success", null]], + "articulation_type": "fridge", + "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": 36, + "task_plan_idx": 104, + "init_config_idx": 118, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 12, 13, 14], "collision", [506.02, 266.15, 396.9, 529.47, 459.65]], [19, "contact", null], [19, "grasped", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [46, "lost_success", null], [47, "success", null], [75, "lost_success", null], [76, "success", null], [110, "lost_success", null], [111, "success", null], [126, "lost_success", null], [127, "success", null], [136, "lost_success", null], [141, "success", null], [143, "lost_success", null], [146, "success", null], [155, "lost_success", null], [160, "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": 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": 36, + "task_plan_idx": 25, + "init_config_idx": 172, + "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", [135.9, 102.51]], [18, "contact", null], [18, "grasped", null], [49, "success", null], [[73, 74, 76, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 103, 104, 105, 106, 107, 108, 110, 111, 112, 113, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 129], "collision", [18.97, 12.7, 19.96, 11.21, 25.56, 14.54, 17.88, 32.71, 31.46, 20.78, 11.37, 26.26, 35.91, 30.36, 21.62, 10.76, 26.35, 14.03, 9.56, 22.58, 36.22, 33.1, 22.97, 30.7, 29.42, 8.25, 27.67, 20.98, 25.75, 4.82, 7.45, 6.46, 15.59, 11.98, 9.26, 7.72, 26.03, 35.93, 16.37, 28.01, 5.22, 4.33, 24.52, 17.24]], [193, "lost_success", null], [194, "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": 37, + "task_plan_idx": 64, + "init_config_idx": 93, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [134.0]], [17, "contact", null], [17, "grasped", null], [[19, 20], "collision", [0.45, 2.3]], [37, "success", null], [56, "lost_success", null], [59, "success", null], [81, "lost_success", null], [82, "success", null], [87, "lost_success", null], [91, "success", null], [92, "lost_success", null], [94, "success", null], [96, "lost_success", null], [98, "success", null], [[100, 101, 102, 103, 104, 105, 106, 107, 108, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119], "collision", [43.31, 31.91, 35.86, 43.19, 19.89, 0.04, 5.57, 16.37, 7.33, 16.91, 29.14, 28.3, 38.19, 42.68, 56.45, 75.14, 68.73, 69.14, 12.17]], [120, "lost_success", null], [[120], "collision", [5.4]], [131, "success", null], [138, "lost_success", null], [145, "success", null], [155, "lost_success", null], [161, "success", null], [162, "lost_success", null], [163, "success", null], [[171, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [18.13, 12.73, 41.22, 38.95, 32.06, 32.77, 7.09, 21.02, 17.36, 29.93, 34.67, 39.72, 38.9, 9.91, 15.58, 12.72, 24.72, 19.4, 5.38, 29.52, 31.03, 24.21, 35.17, 37.66, 35.26, 43.46, 48.46]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 37, + "task_plan_idx": 132, + "init_config_idx": 50, + "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", [554.82, 239.09]], [17, "contact", null], [18, "grasped", null], [47, "success", null], [51, "lost_success", null], [56, "success", null], [66, "lost_success", null]], + "articulation_type": "fridge", + "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": 37, + "task_plan_idx": 163, + "init_config_idx": 89, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 7], "collision", [6.13, 0.76, 18.3]], [11, "contact", null], [11, "grasped", null], [30, "success", null], [34, "lost_success", null], [36, "success", null], [59, "lost_success", null], [61, "success", null], [101, "lost_success", null], [119, "success", null], [133, "lost_success", null], [134, "success", null], [140, "lost_success", null], [145, "success", null], [146, "lost_success", null], [150, "success", null], [154, "lost_success", null], [155, "success", null], [162, "lost_success", null], [173, "success", null], [174, "lost_success", null], [180, "success", null]], + "articulation_type": "fridge", + "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": 39, + "task_plan_idx": 91, + "init_config_idx": 3, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [77.88, 50.21]], [16, "contact", null], [16, "grasped", null], [[16, 18, 19, 20, 21, 22], "collision", [17.2, 13.1, 2.97, 7.45, 4.08, 0.94]], [46, "success", null], [76, "lost_success", null], [84, "success", null], [86, "lost_success", null], [90, "success", null], [94, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 39, + "task_plan_idx": 48, + "init_config_idx": 93, + "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], [21, "grasped", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [51, "lost_success", null], [55, "success", null], [58, "lost_success", null], [59, "success", null], [60, "lost_success", null], [74, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [81, "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": 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": 40, + "task_plan_idx": 16, + "init_config_idx": 120, + "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, 20], "collision", [81.08, 236.33, 52.38, 2636.22]], [21, "contact", null], [21, "grasped", null], [[24, 25], "collision", [0.18, 2.8]], [51, "success", null], [62, "lost_success", null], [[65, 66], "collision", [176.4, 89.76]], [67, "success", null], [[67, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [25.62, 41.41, 42.16, 26.62, 44.18, 37.01, 43.29, 51.96, 69.1, 61.33, 59.21, 42.59, 60.24, 77.74, 58.22, 62.68, 68.2, 64.99, 47.15, 43.71, 42.99, 43.07, 31.43, 4.26]], [94, "lost_success", null], [[94, 96], "collision", [27.55, 23.53]], [99, "success", null], [109, "lost_success", null], [110, "success", null], [113, "lost_success", null], [118, "success", null], [119, "lost_success", null], [121, "success", null], [[139, 140, 141, 142, 143], "collision", [65.46, 48.47, 54.86, 59.79, 52.16]], [148, "lost_success", null], [151, "success", null], [152, "lost_success", null], [154, "success", null], [155, "lost_success", null], [157, "success", null], [167, "lost_success", null], [168, "success", null], [182, "lost_success", null], [183, "success", null], [[197], "collision", [13.88]]], + "articulation_type": "fridge", + "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": 40, + "task_plan_idx": 74, + "init_config_idx": 102, + "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], [20, "grasped", null], [48, "success", null], [57, "lost_success", null], [59, "success", null], [134, "lost_success", null], [145, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [155, "success", null], [[155], "collision", [100.54]], [156, "lost_success", null], [[156], "collision", [45.42]], [157, "success", null], [[157], "collision", [112.67]], [158, "lost_success", null], [[158, 159, 160], "collision", [28.59, 34.82, 9.77]], [172, "success", null], [175, "lost_success", null], [176, "success", null], [[176, 177, 178, 179, 180, 181], "collision", [59.29, 63.06, 86.6, 92.21, 69.31, 69.15]], [182, "lost_success", null], [[182], "collision", [23.93]], [183, "success", null], [[183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [21.22, 36.7, 56.71, 58.74, 41.63, 47.31, 46.71, 58.43, 91.97, 77.23, 61.52, 53.05, 48.72, 74.19, 62.28, 78.68, 58.19]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 40, + "task_plan_idx": 0, + "init_config_idx": 74, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9], "collision", [1694.41, 263.91, 242.8, 204.67, 169.97]], [13, "contact", null], [13, "grasped", null], [[13, 14, 15, 16, 17, 18, 19, 20], "collision", [3.08, 1.1, 26.11, 59.72, 48.71, 40.38, 40.68, 28.05]], [37, "success", null], [39, "lost_success", null], [40, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [55, "success", null], [68, "lost_success", null], [69, "success", null], [70, "lost_success", null], [85, "success", null], [88, "lost_success", null], [92, "success", null], [93, "lost_success", null], [104, "success", null], [105, "lost_success", null], [108, "success", null], [113, "lost_success", null], [115, "success", null], [118, "lost_success", null], [126, "success", null], [145, "lost_success", null], [146, "success", null], [147, "lost_success", null], [148, "success", null], [151, "lost_success", null], [153, "success", null], [155, "lost_success", null], [156, "success", null], [174, "lost_success", null], [190, "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": 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": 42, + "task_plan_idx": 138, + "init_config_idx": 151, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 18], "collision", [349.04, 39.38]], [20, "contact", null], [21, "grasped", null], [48, "success", null], [51, "lost_success", null], [55, "success", null], [60, "lost_success", null], [66, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 42, + "task_plan_idx": 98, + "init_config_idx": 7, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 10], "collision", [19.57, 142.76, 29.61]], [14, "contact", null], [14, "grasped", null], [[14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "collision", [41.75, 37.4, 21.76, 11.77, 7.3, 2.75, 35.61, 15.12, 23.63, 4.97, 8.86, 6.64, 6.3, 5.54, 6.14, 6.06]], [30, "success", null], [[30, 31, 32], "collision", [6.15, 6.67, 6.31]], [33, "lost_success", null], [[33, 34, 35, 36, 37, 38], "collision", [6.07, 5.95, 6.05, 6.52, 6.4, 5.97]], [39, "success", null], [[39, 40, 41, 42], "collision", [3.07, 1.14, 3.18, 2.65]], [43, "lost_success", null], [[43, 44], "collision", [2.34, 2.9]], [45, "success", null], [[45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60], "collision", [2.7, 1.74, 1.85, 2.4, 0.84, 2.43, 2.3, 2.18, 2.87, 2.55, 3.01, 3.31, 2.56, 2.31, 2.53, 2.22]], [61, "lost_success", null], [[61], "collision", [2.83]], [62, "success", null], [[62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79], "collision", [2.92, 1.84, 3.12, 2.73, 1.95, 2.67, 2.51, 2.34, 1.88, 3.19, 2.1, 2.53, 2.97, 2.73, 2.37, 3.17, 2.61, 2.93]], [80, "lost_success", null], [[80], "collision", [4.88]], [81, "success", null], [[81], "collision", [5.95]], [82, "lost_success", null], [[82], "collision", [5.38]], [83, "success", null], [[83, 84, 85, 86, 87], "collision", [6.43, 6.14, 6.2, 6.45, 6.21]], [88, "lost_success", null], [[88, 89], "collision", [6.42, 5.67]], [90, "success", null], [[90, 91], "collision", [5.57, 5.92]], [92, "lost_success", null], [[92, 93, 94, 95, 96, 97], "collision", [5.29, 5.73, 5.84, 5.61, 5.87, 6.85]], [98, "success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116], "collision", [6.17, 6.26, 6.25, 6.64, 6.05, 6.07, 5.72, 6.1, 5.67, 5.6, 5.93, 5.95, 6.04, 5.87, 5.29, 6.2, 5.52, 5.93, 6.07]], [117, "lost_success", null], [[117], "collision", [6.33]], [118, "success", null], [[118], "collision", [6.5]], [119, "lost_success", null], [[119, 120, 121, 122, 123, 124], "collision", [6.49, 6.5, 5.22, 5.81, 6.43, 5.42]], [125, "success", null], [[125], "collision", [6.14]], [126, "lost_success", null], [[126, 127, 128, 129], "collision", [5.87, 5.39, 6.4, 6.49]], [130, "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", [6.52, 7.24, 7.63, 6.04, 5.9, 6.68, 6.45, 6.16, 5.73, 6.14, 6.3, 6.18, 6.82, 6.36, 6.18, 6.27, 5.93, 5.94, 6.05, 5.99, 6.12, 5.85, 6.32, 6.08, 6.5, 6.24, 5.9, 6.39, 6.18, 6.01, 5.66, 5.54, 6.07, 6.0, 6.16, 6.32, 5.99, 6.0, 6.48, 6.28, 5.84, 6.46, 6.31, 5.92, 6.7, 5.75, 5.76, 5.54, 5.79, 6.31, 6.23, 6.79, 6.17, 6.32, 6.26, 5.95, 5.78, 6.18, 6.17, 6.01, 5.71, 6.13, 6.46, 6.09, 5.95, 6.26, 6.3, 6.82, 6.23, 6.46]]], + "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": 42, + "task_plan_idx": 21, + "init_config_idx": 108, + "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], [160, "success", null]], + "articulation_type": "fridge", + "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": 43, + "task_plan_idx": 17, + "init_config_idx": 102, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7], "collision", [330.71, 312.98]], [10, "contact", null], [10, "grasped", null], [27, "success", null], [85, "lost_success", null], [88, "success", null], [148, "lost_success", null], [149, "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": 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": 43, + "task_plan_idx": 45, + "init_config_idx": 74, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [32, "success", null], [34, "lost_success", null], [35, "success", null], [36, "lost_success", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [57, "lost_success", null], [58, "success", null], [69, "lost_success", null], [71, "success", null], [74, "lost_success", null], [75, "success", null], [76, "lost_success", null], [77, "success", null], [85, "lost_success", null], [86, "success", null], [87, "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], [105, "lost_success", null], [106, "success", null], [123, "lost_success", null], [124, "success", null], [126, "lost_success", null], [127, "success", null], [162, "lost_success", null], [171, "success", null], [177, "lost_success", null], [179, "success", null], [185, "lost_success", null], [187, "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": 44, + "task_plan_idx": 58, + "init_config_idx": 155, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [29, "success", null], [97, "lost_success", null], [99, "success", null], [100, "lost_success", null], [103, "success", null], [177, "lost_success", null], [189, "success", null], [199, "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": 44, + "task_plan_idx": 106, + "init_config_idx": 2, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [34, "success", null], [44, "lost_success", null], [45, "success", null], [46, "lost_success", null], [52, "success", null], [72, "lost_success", null], [76, "success", null], [98, "lost_success", null], [99, "success", null], [100, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [112, "lost_success", null], [114, "success", null], [120, "lost_success", null], [121, "success", null], [123, "lost_success", null], [124, "success", null], [146, "lost_success", null], [147, "success", null], [148, "lost_success", null], [149, "success", null], [156, "lost_success", null], [158, "success", null], [166, "lost_success", null], [168, "success", null], [173, "lost_success", null], [174, "success", null], [178, "lost_success", null], [181, "success", null], [190, "lost_success", null], [192, "success", null], [194, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 46, + "task_plan_idx": 163, + "init_config_idx": 122, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [[25, 26, 44], "collision", [18.46, 3.99, 3376.28]], [54, "success", null], [55, "lost_success", null], [[60], "collision", [920.83]], [85, "success", null], [86, "lost_success", null], [88, "success", null], [89, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 46, + "task_plan_idx": 141, + "init_config_idx": 102, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [[49, 50], "collision", [36.64, 63.36]], [51, "success", null], [[51], "collision", [38.31]], [52, "lost_success", null], [[52, 53, 54, 55, 56, 57], "collision", [44.38, 32.98, 50.43, 54.56, 58.19, 73.86]], [58, "success", null], [[58, 59], "collision", [58.0, 78.26]], [60, "lost_success", null], [[60, 61], "collision", [61.96, 77.17]], [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, 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", [75.7, 78.23, 76.03, 62.84, 67.19, 67.47, 70.75, 74.69, 78.52, 71.48, 60.34, 59.66, 61.75, 62.64, 67.17, 73.43, 63.49, 58.57, 53.56, 52.67, 53.15, 65.77, 63.29, 52.2, 37.86, 41.07, 41.24, 39.62, 39.23, 50.51, 45.3, 55.49, 80.98, 62.9, 54.16, 42.98, 40.77, 41.27, 42.19, 31.81, 25.57, 26.87, 18.2, 30.3, 45.98, 64.53, 66.0, 64.27, 55.1, 30.7, 17.31, 16.21, 14.13, 15.51, 16.75, 11.53, 8.37, 8.22, 8.27, 8.61, 8.38, 8.32, 8.18, 8.18, 8.66, 9.27]], [128, "lost_success", null], [[128, 129, 130], "collision", [8.58, 8.82, 8.36]], [131, "success", null], [[131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [8.93, 8.24, 8.89, 8.32, 8.84, 8.47, 8.94, 8.28, 8.71, 8.49, 8.26, 8.55, 8.77, 8.88]], [145, "lost_success", null], [[145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159], "collision", [8.96, 8.46, 8.38, 7.94, 8.52, 30.14, 25.22, 0.17, 0.83, 78.95, 24.13, 35.64, 43.43, 33.0, 0.03]], [162, "success", null], [[164], "collision", [12.12]], [165, "lost_success", null], [[165, 166, 167, 168, 169, 170], "collision", [17.84, 25.55, 23.47, 10.9, 12.0, 33.26]], [171, "success", null], [[171, 172, 173, 174, 175, 176, 177, 178], "collision", [22.62, 37.39, 56.73, 57.09, 31.26, 21.4, 5.33, 15.09]], [183, "lost_success", null], [184, "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": 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": 47, + "task_plan_idx": 16, + "init_config_idx": 130, + "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", [270.09, 305.21, 232.84]], [15, "contact", null], [16, "grasped", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [46, "success", null], [52, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [58, "lost_success", null], [59, "success", null], [61, "lost_success", null], [63, "success", null], [64, "lost_success", null], [86, "success", null], [87, "lost_success", null], [88, "success", null], [89, "lost_success", null], [91, "success", null], [138, "lost_success", null], [140, "success", null], [149, "lost_success", null], [151, "success", null], [170, "lost_success", null], [173, "success", null], [177, "lost_success", null], [178, "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": 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": 47, + "task_plan_idx": 121, + "init_config_idx": 137, + "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, 19], "collision", [323.74, 155.39, 130.91, 85.73]], [23, "contact", null], [[23], "collision", [20.48]], [24, "lost_contact", null], [25, "contact", null], [[27, 28, 29, 32, 33], "collision", [705.83, 27.51, 2.49, 7.31, 2.16]], [34, "lost_contact", null], [[34], "collision", [10.05]], [35, "contact", null], [[35, 36, 38, 39], "collision", [27.81, 74.31, 13.81, 6.83]], [40, "grasped", null], [[40, 42, 43, 46, 47], "collision", [1.56, 1.7, 1.47, 1272.86, 160.41]], [61, "success", null], [62, "lost_success", null], [91, "success", null], [92, "lost_success", null], [93, "success", null], [148, "lost_success", null], [162, "success", null], [166, "lost_success", null], [167, "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": 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": 48, + "task_plan_idx": 28, + "init_config_idx": 62, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [36, "success", null], [58, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [76, "lost_success", null], [77, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [106, "success", null], [109, "lost_success", null], [110, "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": 48, + "task_plan_idx": 36, + "init_config_idx": 63, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 16, 17], "collision", [64.93, 4.92, 414.45]], [18, "contact", null], [18, "grasped", null], [[18], "collision", [284.05]], [32, "success", null], [33, "lost_success", null], [35, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [75, "success", null], [76, "lost_success", null], [77, "success", null], [79, "lost_success", null], [82, "success", null], [83, "lost_success", null], [84, "success", null], [90, "lost_success", null], [93, "success", null], [97, "lost_success", null], [98, "success", null], [109, "lost_success", null], [110, "success", null], [113, "lost_success", null], [114, "success", null], [116, "lost_success", null], [117, "success", null], [119, "lost_success", null], [120, "success", null], [121, "lost_success", null], [137, "success", null], [138, "lost_success", null], [139, "success", null], [140, "lost_success", null], [141, "success", null], [143, "lost_success", null], [148, "success", null], [149, "lost_success", null], [150, "success", null], [[169, 170, 171, 173, 174, 175, 176, 177, 178, 179], "collision", [16.21, 13.63, 11.13, 35.65, 27.17, 29.91, 41.23, 33.49, 55.18, 63.45]], [180, "lost_success", null], [[180, 184], "collision", [65.07, 17.12]], [185, "success", null], [[185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [43.39, 36.81, 42.4, 46.62, 34.83, 34.77, 24.52, 8.94, 10.88]], [194, "lost_success", null], [195, "success", null], [[196, 197, 198, 199], "collision", [19.15, 47.9, 55.29, 41.61]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 48, + "task_plan_idx": 87, + "init_config_idx": 37, + "spawn_selection_idx": 60, + "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, 21, 22, 23, 24, 25, 26, 27, 29, 30, 31, 32, 33, 35, 36, 37], "collision", [11.31, 10.0, 10.03, 9.95, 9.02, 11.27, 11.47, 11.22, 8.89, 10.3, 7.52, 37.13, 19.47, 5.25, 38.69, 138.02, 11.11]], [39, "success", null], [[41], "collision", [68.85]], [42, "lost_success", null], [[42], "collision", [8.23]], [43, "success", null], [[43, 44, 45, 46, 47], "collision", [31.34, 34.07, 32.33, 24.51, 15.11]], [48, "lost_success", null], [[48, 49], "collision", [8.06, 8.14]], [58, "success", null], [59, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [128, "success", null], [165, "lost_success", null], [166, "success", null], [167, "lost_success", null], [168, "success", null], [174, "lost_success", null], [175, "success", null], [176, "lost_success", null], [179, "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": 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": 48, + "task_plan_idx": 84, + "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": [[[9, 10, 11, 12, 27], "collision", [966.03, 158.81, 159.58, 42.66, 51.25]], [30, "contact", null], [32, "lost_contact", null], [33, "contact", null], [34, "grasped", null], [60, "success", null], [67, "lost_success", null], [68, "success", null], [69, "lost_success", null], [70, "success", null], [75, "lost_success", null], [80, "success", null], [84, "lost_success", null], [85, "success", null], [86, "lost_success", null], [88, "success", null], [96, "lost_success", null], [100, "success", null], [103, "lost_success", null], [104, "success", null], [117, "lost_success", null], [119, "success", null], [132, "lost_success", null], [133, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 27, + "init_config_idx": 63, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [32, "success", 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, 61, 62, 63, 64, 65, 67, 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], "collision", [2.89, 1.8, 5.92, 12.35, 9.89, 26.54, 25.28, 24.23, 32.7, 38.19, 47.34, 48.72, 51.06, 37.37, 36.56, 52.09, 52.16, 55.72, 49.66, 47.45, 52.76, 52.25, 41.24, 41.53, 33.26, 24.73, 1.65, 22.78, 40.11, 47.68, 11.61, 5.28, 5.26, 0.26, 2.25, 5.83, 8.0, 13.66, 1.65, 109.03, 46.48, 52.55, 38.05, 46.48, 53.76, 36.5, 39.05, 40.35, 38.04, 37.53, 37.05, 39.38, 38.64, 39.67, 37.74, 39.6, 38.66, 39.89, 37.07, 37.74, 38.24, 37.96, 37.32, 37.84, 35.1, 40.61, 35.24, 39.14, 37.59, 35.92, 38.02, 38.76, 37.74, 42.63, 44.82, 48.7, 53.41, 55.54, 52.91, 51.77, 54.59, 55.07, 54.68, 57.13, 55.07, 56.12, 56.34, 68.5, 58.81, 54.08, 49.0, 54.22, 44.88, 49.41, 50.71, 54.08, 51.26, 49.57, 51.01, 55.25, 47.02, 56.84]], [146, "lost_success", null], [[146, 147], "collision", [51.88, 34.03]], [148, "success", null], [[148, 149, 150, 151, 152, 153, 154, 158, 161, 162, 164, 166, 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", [43.08, 50.17, 44.03, 46.33, 47.22, 35.32, 35.41, 35.55, 28.38, 24.45, 31.92, 0.6, 17.62, 0.24, 16.1, 1.05, 6.06, 35.52, 12.12, 8.3, 27.69, 6.73, 15.61, 11.54, 9.46, 12.07, 8.1, 7.86, 9.9, 12.49, 13.9, 14.82, 9.41, 12.36, 44.74, 12.32, 11.42, 43.71, 10.57, 8.41, 12.23, 7.6, 35.59, 9.57]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 45, + "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": [[[10, 11, 12, 13, 14], "collision", [97.22, 44.41, 233.48, 218.37, 328.29]], [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", [33.11, 87.07, 90.6, 93.59, 84.73, 78.3, 71.26, 72.36, 15.61, 17.49, 17.35, 16.85, 17.86, 17.48, 19.42, 16.98, 11.67, 11.97, 12.11, 11.63, 10.84, 12.33, 10.21, 11.95, 12.74, 13.15, 13.63, 13.55, 13.27]], [46, "success", null], [[46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "collision", [12.14, 12.15, 13.28, 12.57, 11.08, 12.7, 10.92, 11.16, 11.27, 11.84, 12.24, 12.4, 13.02, 13.32, 12.05, 13.27, 13.26]], [63, "lost_success", null], [[63], "collision", [12.12]], [64, "success", null], [[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", [11.58, 11.48, 11.27, 11.84, 10.43, 10.75, 10.29, 13.22, 11.98, 9.93, 10.61, 13.52, 11.48, 10.39, 10.92, 10.69, 11.03, 11.19, 11.33, 11.43, 11.33, 10.89, 11.24, 10.64, 9.71, 9.69, 9.89, 10.7, 10.92, 10.7]], [94, "lost_success", null], [[94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108], "collision", [10.59, 10.32, 10.72, 11.0, 10.12, 10.65, 11.09, 11.25, 11.71, 11.64, 11.16, 11.53, 11.17, 11.35, 9.65]], [109, "success", null], [[109], "collision", [12.97]], [110, "lost_success", null], [[110, 111, 112, 113, 114], "collision", [11.96, 13.89, 12.85, 11.28, 11.96]], [115, "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, 169, 170, 171, 172, 173, 174, 175, 176, 177], "collision", [10.97, 10.56, 11.11, 11.19, 10.84, 8.86, 9.21, 9.02, 10.39, 11.19, 14.31, 14.77, 15.08, 11.79, 14.97, 15.61, 14.44, 12.95, 12.05, 13.2, 14.2, 13.03, 12.34, 12.48, 12.58, 13.1, 12.85, 11.75, 12.02, 13.98, 11.81, 14.27, 13.99, 14.0, 14.81, 13.09, 13.34, 49.16, 75.74, 56.89, 43.34, 37.16, 35.98, 13.0, 40.91, 28.91, 38.02, 38.33, 29.44, 28.32, 27.39, 24.22, 16.43, 26.14, 13.74, 14.85, 13.84, 14.84, 13.83, 13.96, 13.62, 13.43, 14.58]], [178, "lost_success", null], [[178], "collision", [14.29]], [179, "success", null], [[179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197], "collision", [13.71, 13.58, 14.65, 14.6, 14.0, 62.61, 36.59, 33.67, 18.35, 14.57, 13.07, 14.06, 13.01, 12.85, 15.14, 13.77, 14.43, 13.55, 13.47]], [198, "lost_success", null], [[198], "collision", [15.09]], [199, "success", null], [[199], "collision", [15.13]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 69, + "init_config_idx": 28, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 13], "collision", [709.94, 245.42, 638.25, 215.62, 212.79]], [14, "contact", null], [[15], "collision", [92.05]], [16, "grasped", null], [[16, 17, 18, 19, 20, 21, 22, 25], "collision", [114.88, 87.78, 63.19, 60.8, 56.42, 66.9, 8.13, 0.09]], [49, "success", null], [66, "lost_success", null], [68, "success", null], [95, "lost_success", null], [96, "success", null], [98, "lost_success", null], [100, "success", null], [[100], "collision", [0.7]], [101, "lost_success", null], [[102], "collision", [0.95]], [107, "success", null], [[136, 137], "collision", [0.27, 0.13]], [138, "lost_success", null], [[138], "collision", [0.29]], [146, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 51, + "task_plan_idx": 45, + "init_config_idx": 36, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [7.44]], [16, "contact", null], [16, "grasped", null], [[17, 18, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34], "collision", [330.45, 642.62, 308.31, 288.51, 16.47, 17.07, 26.86, 4.55, 6.49, 5.9, 5.96, 5.13, 3.37, 4.07, 3.54, 2.88]], [35, "success", null], [[35, 36, 37, 38, 39, 40, 41, 42, 43], "collision", [3.92, 3.39, 3.31, 3.47, 4.23, 4.63, 3.0, 3.71, 4.23]], [44, "lost_success", null], [[44], "collision", [5.08]], [45, "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, 91], "collision", [4.5, 2.58, 3.26, 3.98, 5.3, 3.2, 4.07, 4.78, 4.68, 3.12, 3.1, 3.99, 4.28, 4.18, 2.4, 5.04, 5.34, 5.2, 3.79, 3.17, 3.47, 3.7, 3.23, 3.47, 4.92, 4.16, 4.08, 4.22, 3.72, 4.09, 3.87, 3.84, 4.44, 4.36, 4.41, 4.56, 4.31, 4.1, 5.37, 4.17, 5.7, 4.41, 2.99, 3.97, 3.18, 4.4, 3.53]], [92, "lost_success", null], [[92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "collision", [2.69, 4.02, 3.91, 5.53, 4.38, 3.52, 4.52, 2.47, 2.96, 4.13]], [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, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166], "collision", [3.96, 4.05, 5.48, 3.84, 3.55, 5.09, 3.51, 5.68, 3.9, 3.63, 3.89, 2.32, 4.33, 3.43, 4.35, 3.67, 3.27, 3.97, 5.34, 4.31, 3.24, 4.87, 4.05, 4.92, 3.93, 5.31, 3.84, 3.85, 4.24, 5.26, 3.55, 5.61, 3.28, 3.59, 4.64, 4.75, 5.19, 3.9, 4.24, 3.3, 4.03, 2.77, 3.52, 4.8, 4.92, 3.5, 3.36, 5.13, 3.56, 4.94, 3.74, 4.57, 5.27, 4.97, 4.91, 4.38, 4.53, 3.53, 5.09, 2.97, 5.04, 3.56, 4.51, 5.32, 3.65]], [167, "lost_success", null], [[167, 168, 169, 170], "collision", [4.15, 3.4, 4.28, 2.9]], [171, "success", null], [[171, 172, 173], "collision", [4.53, 2.56, 4.2]], [174, "lost_success", null], [[174, 175, 176, 177], "collision", [4.6, 5.24, 3.82, 3.57]], [178, "success", null], [[178, 179, 180], "collision", [4.57, 4.74, 4.83]], [181, "lost_success", null], [[181, 182, 183, 184, 185], "collision", [5.42, 4.09, 3.39, 3.94, 5.82]], [186, "success", null], [[186], "collision", [4.05]], [187, "lost_success", null], [[187, 188], "collision", [3.76, 2.76]], [189, "success", null], [[189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [4.98, 3.95, 4.87, 4.22, 3.08, 5.55, 4.46, 4.38, 3.51, 4.04, 3.85]]], + "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": 51, + "task_plan_idx": 36, + "init_config_idx": 12, + "spawn_selection_idx": 41, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [[21], "collision", [41.06]], [22, "lost_contact", null], [[22], "collision", [138.69]], [23, "contact", null], [23, "grasped", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [62, "lost_success", null], [73, "success", null], [81, "lost_success", null], [87, "success", null], [98, "lost_success", null], [99, "success", null], [118, "lost_success", null], [121, "success", null], [124, "lost_success", null], [125, "success", null], [131, "lost_success", null], [134, "success", null], [135, "lost_success", null], [136, "success", null], [141, "lost_success", null], [143, "success", null], [147, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 51, + "task_plan_idx": 70, + "init_config_idx": 125, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 15, 16], "collision", [0.21, 195.33, 12.64, 129.99]], [17, "contact", null], [[17], "collision", [386.81]], [18, "grasped", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [81, "lost_success", null], [82, "success", null], [83, "lost_success", null], [89, "success", null], [92, "lost_success", null], [93, "success", null], [94, "lost_success", null], [97, "success", null], [104, "lost_success", null], [107, "success", null], [108, "lost_success", null], [130, "success", null], [168, "lost_success", null], [169, "success", null], [170, "lost_success", null], [172, "success", null], [173, "lost_success", null], [185, "success", null], [193, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "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": 51, + "task_plan_idx": 40, + "init_config_idx": 46, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [690.21]], [23, "contact", null], [23, "grasped", null], [56, "success", null], [131, "lost_success", null], [132, "success", null], [[170, 171, 172, 173, 174, 175], "collision", [34.72, 20.62, 8.57, 6.11, 2.94, 6.3]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 52, + "task_plan_idx": 29, + "init_config_idx": 74, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10], "collision", [155.4, 139.78, 758.48, 255.69, 205.8]], [15, "contact", null], [16, "grasped", null], [[16, 20], "collision", [0.17, 1.9]], [37, "success", null], [55, "lost_success", null], [56, "success", null], [64, "lost_success", null], [69, "success", null], [70, "lost_success", null], [73, "success", null], [75, "lost_success", null], [76, "success", null], [77, "lost_success", null], [105, "success", null], [134, "lost_success", null], [135, "success", null], [139, "lost_success", null], [141, "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": 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": 52, + "task_plan_idx": 15, + "init_config_idx": 136, + "spawn_selection_idx": 75, + "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], [48, "success", null], [56, "lost_success", null], [62, "success", null], [103, "lost_success", null], [108, "success", null], [115, "lost_success", null], [116, "success", null], [119, "lost_success", null], [123, "success", null], [133, "lost_success", null], [135, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 53, + "task_plan_idx": 54, + "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": [[[14], "collision", [0.94]], [15, "contact", null], [15, "grasped", null], [[17, 18, 23, 32, 35], "collision", [199.5, 106.97, 52.1, 42.74, 42.3]], [37, "success", null], [[37], "collision", [8.4]], [38, "lost_success", null], [39, "success", null], [41, "lost_success", null], [48, "success", null], [56, "lost_success", null], [57, "success", null], [96, "lost_success", null], [97, "success", null], [181, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "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": 54, + "task_plan_idx": 126, + "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": [[17, "contact", null], [17, "grasped", null], [32, "success", null], [163, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 54, + "task_plan_idx": 60, + "init_config_idx": 44, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [0.05]], [18, "contact", null], [18, "grasped", null], [[19, 20, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38], "collision", [77.77, 99.51, 21.44, 42.4, 46.87, 27.71, 46.58, 25.65, 26.32, 24.5, 26.15, 28.28]], [39, "success", null], [[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, 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, 194, 195, 196, 197, 198, 199], "collision", [28.33, 27.73, 28.49, 35.81, 26.44, 25.75, 24.02, 24.04, 27.07, 27.14, 25.79, 24.89, 25.04, 26.18, 26.58, 26.45, 26.66, 23.77, 24.59, 25.58, 24.47, 26.66, 27.72, 26.28, 25.91, 26.46, 23.92, 23.82, 27.4, 27.49, 26.74, 26.09, 25.61, 25.86, 25.83, 24.19, 25.78, 26.39, 27.22, 25.41, 25.01, 25.16, 24.97, 26.43, 25.63, 25.98, 26.45, 25.64, 26.37, 25.88, 26.22, 26.66, 27.92, 27.09, 25.45, 27.16, 27.76, 25.98, 25.98, 26.77, 26.91, 27.05, 26.65, 26.94, 25.93, 26.25, 27.46, 26.74, 28.26, 25.93, 26.96, 26.44, 25.98, 26.39, 26.56, 25.69, 25.59, 25.58, 25.84, 25.14, 27.17, 27.99, 27.3, 26.89, 26.7, 27.52, 25.48, 25.13, 25.7, 26.04, 27.51, 28.31, 27.92, 27.82, 27.47, 25.01, 26.97, 27.67, 26.24, 26.1, 25.58, 25.48, 25.96, 25.71, 28.03, 26.96, 27.4, 26.29, 27.1, 25.76, 27.31, 27.85, 29.48, 28.19, 26.41, 27.47, 25.19, 26.49, 27.25, 25.88, 26.22, 27.11, 27.8, 28.18, 26.22, 28.29, 27.3, 27.79, 25.29, 25.47, 28.52, 27.19, 26.31, 30.0, 28.53, 28.39, 28.34, 25.99, 26.19, 26.73, 26.87, 27.13, 25.24, 25.96, 26.34, 26.53, 26.46, 26.67, 25.67, 27.29, 27.43, 27.05, 27.65, 27.76, 27.07, 25.61, 27.54, 26.68, 26.97, 26.51, 27.61]]], + "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": 54, + "task_plan_idx": 102, + "init_config_idx": 5, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [679.49, 136.7]], [29, "contact", null], [[29], "collision", [92.92]], [30, "grasped", null], [[30], "collision", [23.85]], [52, "success", null], [53, "lost_success", null], [56, "success", null], [59, "lost_success", null], [74, "success", null], [88, "lost_success", null], [93, "success", null], [109, "lost_success", null], [114, "success", null], [118, "lost_success", null], [119, "success", null], [135, "lost_success", null], [136, "success", null], [138, "lost_success", null], [143, "success", null], [145, "lost_success", null], [146, "success", null], [169, "lost_success", null], [177, "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": 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": 55, + "task_plan_idx": 33, + "init_config_idx": 143, + "spawn_selection_idx": 31, + "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", [12.99]], [31, "success", null], [[31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [42.81, 107.79, 86.12, 62.99, 76.18, 88.62, 87.37, 80.62, 55.91, 49.96, 46.22, 45.13, 39.98, 35.71, 36.0]], [46, "lost_success", null], [[46, 47, 48], "collision", [34.78, 35.18, 36.83]], [49, "success", null], [[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], "collision", [38.74, 40.5, 42.28, 41.82, 39.81, 40.5, 40.34, 41.12, 40.75, 41.39, 41.3, 41.4, 39.57, 40.92, 41.44, 40.56, 39.79, 39.5, 39.19, 45.35, 58.97, 53.03, 55.85, 71.69, 57.63, 55.77, 46.89, 43.38]], [77, "lost_success", null], [[77], "collision", [49.03]], [78, "success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [48.06, 47.0, 46.37, 44.35, 44.4, 45.79, 40.48, 48.01, 34.05, 34.96, 36.49, 47.59, 45.28, 62.66]], [92, "lost_success", null], [[92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103], "collision", [58.65, 23.7, 21.43, 22.11, 16.74, 18.45, 12.79, 11.99, 6.3, 8.53, 3.88, 2.9]], [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, 133, 134, 135, 136], "collision", [3.63, 6.75, 8.08, 9.45, 9.68, 12.43, 5.34, 11.3, 8.63, 7.47, 11.58, 15.08, 15.22, 13.39, 8.9, 3.63, 3.16, 5.29, 5.6, 6.84, 8.63, 7.34, 10.86, 10.69, 10.91, 10.67, 11.3, 11.28, 11.4, 4.95, 6.45, 6.9, 6.2]], [137, "lost_success", null], [[137], "collision", [6.41]], [138, "success", null], [[138, 139, 140, 141, 142], "collision", [6.69, 6.16, 6.03, 6.5, 6.45]], [143, "lost_success", null], [[143, 144], "collision", [5.92, 6.99]], [145, "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], "collision", [7.7, 7.01, 7.38, 6.74, 6.45, 6.63, 7.73, 6.58, 7.42, 7.9, 6.91, 6.79, 6.65, 6.6, 6.63, 6.24, 7.16, 7.35, 6.48, 6.7, 6.66, 6.52, 6.85, 5.83, 6.66, 6.99]], [171, "lost_success", null], [[171, 172, 173], "collision", [5.93, 6.2, 7.01]], [174, "success", null], [[174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190], "collision", [6.65, 7.35, 7.53, 7.05, 7.38, 6.27, 6.74, 6.38, 6.78, 6.72, 6.83, 6.91, 5.98, 5.06, 5.56, 6.65, 5.69]], [191, "lost_success", null], [[191, 192], "collision", [5.74, 5.08]]], + "articulation_type": "fridge", + "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": 55, + "task_plan_idx": 114, + "init_config_idx": 97, + "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], [37, "success", null], [38, "lost_success", null], [39, "success", null], [40, "lost_success", null], [41, "success", null], [69, "lost_success", null], [[70, 72, 73, 74], "collision", [7.16, 11.41, 13.65, 44.54]], [75, "success", null], [[76, 77, 78, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118], "collision", [30.57, 4.84, 17.32, 27.58, 5.07, 23.12, 17.44, 5.77, 19.85, 7.68, 24.3, 38.06, 11.2]], [119, "lost_success", null], [121, "success", null], [123, "lost_success", null], [124, "success", null], [[148, 149, 151], "collision", [13.24, 3.88, 5.68]]], + "articulation_type": "fridge", + "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": 55, + "task_plan_idx": 38, + "init_config_idx": 130, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5], "collision", [1525.26]], [10, "contact", null], [12, "grasped", null], [25, "success", null], [27, "lost_success", null], [28, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 56, + "task_plan_idx": 8, + "init_config_idx": 86, + "spawn_selection_idx": 41, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6], "collision", [346.86, 284.08, 180.17, 190.0]], [14, "contact", null], [15, "grasped", null], [[21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "collision", [33.29, 8.88, 8.84, 4.13, 5.71, 10.02, 7.51, 9.41, 7.74, 8.35]], [31, "success", null], [[31], "collision", [7.5]], [32, "lost_success", null], [[32], "collision", [9.09]], [33, "success", null], [[33, 34, 35, 36, 37, 38, 39], "collision", [9.07, 8.48, 9.34, 10.23, 10.24, 8.99, 9.17]], [40, "lost_success", null], [[40], "collision", [8.3]], [41, "success", null], [[41, 42, 43], "collision", [8.31, 8.58, 8.25]], [44, "lost_success", null], [[44, 45, 46, 47, 48, 49, 50], "collision", [8.04, 10.41, 9.8, 10.84, 8.06, 9.04, 8.5]], [51, "success", null], [[51], "collision", [7.98]], [52, "lost_success", null], [[52, 53], "collision", [9.15, 7.68]], [54, "success", null], [[54, 55, 56, 57, 58, 59], "collision", [9.1, 9.01, 9.36, 9.44, 10.06, 9.67]], [60, "lost_success", null], [[60], "collision", [9.33]], [61, "success", null], [[61], "collision", [11.09]], [62, "lost_success", null], [[62, 63, 64, 65, 66, 67, 68, 69, 70, 71], "collision", [10.45, 9.83, 7.39, 8.48, 9.86, 8.17, 8.16, 8.47, 8.71, 8.76]], [72, "success", null], [[72], "collision", [8.77]], [73, "lost_success", null], [[73, 74], "collision", [10.39, 10.41]], [75, "success", null], [[75, 76], "collision", [9.58, 8.47]], [77, "lost_success", null], [[77, 78, 79, 80, 81, 82], "collision", [7.35, 8.43, 7.3, 8.89, 10.52, 11.9]], [83, "success", null], [[83, 84, 85, 86, 87, 88], "collision", [10.3, 9.19, 10.88, 9.71, 10.03, 10.76]], [89, "lost_success", null], [[89], "collision", [10.61]], [90, "success", null], [[90, 91, 92, 93, 94, 95, 96], "collision", [10.52, 9.93, 10.13, 10.85, 8.86, 8.29, 7.35]], [97, "lost_success", null], [[97], "collision", [8.27]], [98, "success", null], [[98, 99, 100], "collision", [8.16, 7.4, 7.39]], [101, "lost_success", null], [[101], "collision", [7.41]], [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], "collision", [7.85, 8.63, 6.59, 8.26, 9.13, 6.91, 8.61, 8.65, 8.02, 10.5, 10.39, 8.49, 10.3, 9.23, 9.5, 8.46, 7.45, 9.82, 9.87, 9.5, 9.89, 10.57, 9.06, 10.08, 9.01, 9.99, 10.66, 9.34, 9.27, 9.57, 10.97, 8.72, 8.44, 9.29, 11.38, 9.45, 10.38, 10.09, 10.08, 11.01, 7.8, 8.64, 8.42, 8.4, 8.35, 9.81, 8.72, 9.86]], [150, "lost_success", null], [[150], "collision", [9.74]], [151, "success", null], [[151, 152, 153, 154, 155, 156, 157, 158], "collision", [8.76, 9.4, 8.0, 8.35, 12.11, 9.8, 9.68, 10.02]], [159, "lost_success", null], [[159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [11.5, 11.5, 10.46, 8.4, 9.54, 9.6, 8.87, 6.32, 6.44, 5.33, 5.93, 6.48, 5.93, 6.08, 5.17, 5.18]], [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", [7.57, 8.72, 5.65, 7.66, 7.89, 8.24, 6.26, 6.15, 8.07, 8.17, 6.94, 7.1, 6.87, 7.56, 6.49, 7.02, 7.75, 7.76, 7.16, 7.03, 7.39, 7.99, 8.03, 7.48, 6.81]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 56, + "task_plan_idx": 104, + "init_config_idx": 104, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [13, "grasped", null], [29, "success", null], [160, "lost_success", null], [162, "success", null], [165, "lost_success", null], [166, "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": 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": 57, + "task_plan_idx": 50, + "init_config_idx": 64, + "spawn_selection_idx": 27, + "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], [53, "lost_success", null], [55, "success", null], [61, "lost_success", null], [89, "success", null], [103, "lost_success", null], [106, "success", null], [109, "lost_success", null], [110, "success", null], [111, "lost_success", null], [117, "success", null], [118, "lost_success", null], [135, "success", null], [136, "lost_success", null], [144, "success", null], [145, "lost_success", null], [146, "success", null], [147, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [164, "lost_success", null], [166, "success", null], [168, "lost_success", null], [170, "success", null], [172, "lost_success", null], [175, "success", null], [176, "lost_success", null], [179, "success", null], [180, "lost_success", null], [181, "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": 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": 57, + "task_plan_idx": 0, + "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": [[17, "contact", null], [18, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28], "collision", [33.64, 28.59, 30.22, 25.87, 25.48, 28.62, 24.1, 27.49, 26.58, 24.76, 31.02]], [35, "success", null], [36, "lost_success", null], [39, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 131, + "init_config_idx": 26, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [180.6]], [11, "contact", null], [[11], "collision", [14.22]], [12, "grasped", null], [37, "success", null], [38, "lost_success", null], [48, "success", null], [56, "lost_success", null], [64, "success", null], [86, "lost_success", null], [87, "success", null]], + "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": 59, + "task_plan_idx": 7, + "init_config_idx": 136, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6], "collision", [2081.21, 166.0, 188.75]], [11, "contact", null], [11, "grasped", null], [22, "success", null], [24, "lost_success", null], [28, "success", null], [30, "lost_success", null], [31, "success", null], [32, "lost_success", null], [33, "success", null]], + "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": 59, + "task_plan_idx": 123, + "init_config_idx": 90, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11], "collision", [129.38, 36.81]], [17, "contact", null], [17, "grasped", null], [[25, 28], "collision", [23.36, 125.93]], [40, "success", null], [76, "lost_success", null], [79, "success", null], [100, "lost_success", null], [116, "success", null], [126, "lost_success", null], [148, "success", null], [162, "lost_success", null], [164, "success", null], [167, "lost_success", null], [169, "success", null], [172, "lost_success", null], [174, "success", null], [179, "lost_success", null], [180, "success", null], [183, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "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": 60, + "task_plan_idx": 66, + "init_config_idx": 116, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 10, 11, 13], "collision", [205.1, 792.39, 500.13, 515.27]], [17, "contact", null], [18, "grasped", null], [50, "success", null], [75, "lost_success", null], [76, "success", null], [115, "lost_success", null], [130, "success", null], [132, "lost_success", null], [133, "success", null], [170, "lost_success", null], [172, "success", null], [173, "lost_success", null], [188, "success", null], [189, "lost_success", null], [190, "success", null], [192, "lost_success", null], [193, "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": 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": 61, + "task_plan_idx": 2, + "init_config_idx": 69, + "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, "lost_contact", null], [[21], "collision", [39.01]], [22, "contact", null], [22, "grasped", null], [[34, 35, 36, 37, 38, 39, 40, 42, 43, 44, 45, 46], "collision", [21.49, 21.02, 37.0, 34.93, 26.44, 21.57, 14.68, 33.27, 25.46, 21.59, 20.36, 21.66]], [47, "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, 72, 73, 74, 75, 76, 77, 78], "collision", [29.23, 33.0, 35.97, 44.04, 46.95, 48.89, 49.84, 53.61, 50.84, 31.3, 32.11, 28.53, 24.73, 36.94, 38.6, 37.05, 37.59, 34.3, 30.55, 23.68, 21.88, 22.9, 21.57, 24.06, 27.16, 23.59, 21.91, 22.21, 21.13, 20.24, 18.69, 18.27]], [79, "lost_success", null], [[79], "collision", [18.62]], [80, "success", null], [[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], "collision", [20.48, 19.55, 16.55, 16.22, 14.3, 16.52, 16.12, 18.22, 18.52, 16.46, 19.69, 18.99, 18.34, 19.54, 19.36, 20.18, 18.84, 21.45, 21.44, 18.83, 18.95, 21.17, 20.92, 19.82, 20.43, 18.5, 22.14, 22.28, 18.34, 20.03, 22.02, 20.93, 19.64]], [113, "lost_success", null], [[113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123], "collision", [21.55, 23.53, 23.65, 22.36, 23.31, 23.18, 22.64, 23.21, 23.29, 23.27, 22.72]], [124, "success", null], [[124], "collision", [24.31]], [125, "lost_success", null], [[125, 126, 127, 128, 129], "collision", [23.15, 23.27, 24.2, 21.89, 24.2]], [130, "success", null], [[130, 131, 132, 133, 134, 135, 136], "collision", [24.03, 23.56, 22.78, 21.22, 21.24, 21.42, 21.91]], [137, "lost_success", null], [[137], "collision", [20.57]], [138, "success", null], [[138], "collision", [24.56]], [139, "lost_success", null], [[139], "collision", [20.86]], [140, "success", null], [[140], "collision", [21.58]], [141, "lost_success", null], [[141], "collision", [22.56]], [142, "success", null], [[142], "collision", [22.51]], [143, "lost_success", null], [[143], "collision", [21.62]], [144, "success", null], [[144, 145], "collision", [20.56, 21.68]], [146, "lost_success", null], [[146, 147], "collision", [22.5, 24.43]], [148, "success", null], [[148, 149, 150, 151], "collision", [23.98, 21.98, 20.58, 19.41]], [152, "lost_success", null], [[152, 153, 154, 155], "collision", [20.75, 22.78, 21.9, 22.01]], [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, 180, 181, 182, 183, 184, 185], "collision", [22.29, 21.01, 21.17, 18.74, 18.66, 19.16, 19.4, 19.37, 19.54, 19.26, 19.15, 19.3, 20.41, 17.77, 19.58, 18.29, 18.23, 19.25, 19.48, 18.36, 18.61, 18.94, 19.21, 19.04, 18.0, 19.11, 18.01, 17.71, 18.09, 18.1]], [186, "lost_success", null], [[186, 187, 188], "collision", [22.95, 21.64, 23.37]], [189, "success", null], [[189], "collision", [21.39]], [190, "lost_success", null], [[190], "collision", [19.62]], [191, "success", null], [[191], "collision", [21.42]], [192, "lost_success", null], [[192], "collision", [22.17]], [193, "success", null], [[193], "collision", [21.36]], [194, "lost_success", null], [[194], "collision", [22.34]], [195, "success", null], [[195, 196, 197, 198, 199], "collision", [23.38, 21.7, 21.56, 21.37, 22.49]]], + "articulation_type": "fridge", + "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": 61, + "task_plan_idx": 21, + "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": [[22, "contact", null], [22, "grasped", null], [[36, 37, 38, 39, 40, 42, 43, 44, 45, 46], "collision", [26.04, 20.53, 51.45, 66.48, 51.81, 11.56, 23.93, 18.21, 13.45, 13.74]], [47, "success", null], [[47], "collision", [0.17]], [52, "lost_success", null], [53, "success", null], [54, "lost_success", null], [61, "success", null], [62, "lost_success", null], [72, "success", null], [75, "lost_success", null], [76, "success", null], [107, "lost_success", null], [117, "success", null], [130, "lost_success", null], [131, "success", null], [142, "lost_success", null], [148, "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": 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": 61, + "task_plan_idx": 38, + "init_config_idx": 23, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13], "collision", [247.0, 249.8, 241.55]], [16, "contact", null], [16, "grasped", null], [[18], "collision", [0.68]], [42, "success", null], [53, "lost_success", null], [54, "success", null], [68, "lost_success", null], [69, "success", null], [81, "lost_success", null], [83, "success", null], [115, "lost_success", null], [116, "success", null], [121, "lost_success", null], [124, "success", null], [125, "lost_success", null], [126, "success", null], [168, "lost_success", null], [170, "success", null], [174, "lost_success", null], [175, "success", null], [176, "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": 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": 61, + "task_plan_idx": 92, + "init_config_idx": 7, + "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], [14, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40], "collision", [155.59, 227.96, 205.72, 166.64, 60.87, 56.16, 61.65, 44.25, 11.8, 12.62, 9.38, 8.06, 6.64, 8.78, 8.35, 7.56, 9.98, 9.52, 9.13, 8.85, 9.43]], [41, "success", null], [[41, 42, 43], "collision", [9.67, 9.44, 9.88]], [44, "lost_success", null], [[44], "collision", [10.39]], [45, "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], "collision", [9.55, 10.27, 10.29, 9.44, 11.01, 9.55, 10.51, 9.69, 10.14, 10.75, 10.3, 10.22, 10.4, 10.79, 10.74, 10.61, 11.39, 9.87, 8.86, 9.67, 10.07, 11.24, 9.68, 10.07, 9.32, 9.73, 9.6, 9.82, 10.69, 9.47, 12.58, 10.07, 10.51, 10.02, 9.62, 10.08, 10.45, 11.06, 9.95, 9.66, 10.8, 10.09, 10.05, 9.4]], [89, "lost_success", null], [[89], "collision", [10.32]], [90, "success", null], [[90, 91], "collision", [10.47, 22.33]], [92, "lost_success", null], [[92], "collision", [23.06]], [93, "success", null], [[93, 94, 95, 96, 97], "collision", [24.35, 20.27, 22.7, 22.28, 21.57]], [98, "lost_success", null], [[98, 99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [23.93, 22.14, 20.72, 23.94, 23.47, 23.61, 24.31, 21.1, 22.01, 21.78]], [108, "success", null], [[108], "collision", [22.05]], [109, "lost_success", null], [[109, 110, 111], "collision", [22.48, 21.95, 20.9]], [112, "success", null], [[112, 113, 114, 115, 116, 117, 118, 119], "collision", [22.85, 24.02, 22.67, 22.53, 21.86, 21.61, 23.9, 23.36]], [120, "lost_success", null], [[120, 121, 122, 123], "collision", [24.9, 23.96, 20.98, 22.89]], [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, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173], "collision", [20.41, 23.58, 22.56, 19.72, 23.88, 22.92, 22.45, 20.3, 22.73, 24.22, 22.93, 22.14, 20.12, 21.82, 21.51, 21.88, 22.65, 24.24, 22.93, 22.81, 21.13, 24.31, 24.54, 22.84, 25.08, 23.35, 23.29, 22.81, 25.74, 25.45, 21.76, 20.96, 23.28, 22.06, 23.87, 24.09, 22.96, 22.03, 23.25, 21.35, 21.41, 25.13, 24.82, 21.08, 21.9, 21.43, 19.06, 22.26, 22.71, 21.9]], [174, "lost_success", null], [[174], "collision", [19.96]], [175, "success", null], [[175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189], "collision", [21.38, 23.0, 22.69, 22.34, 23.09, 22.52, 21.45, 21.53, 24.13, 22.62, 23.92, 22.93, 21.77, 22.88, 22.48]], [190, "lost_success", null], [[190, 191, 192, 193, 194, 195, 196, 197], "collision", [21.69, 20.72, 20.3, 21.24, 21.7, 24.03, 22.12, 24.59]], [198, "success", null], [[198, 199], "collision", [23.09, 21.58]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 52, + "init_config_idx": 107, + "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], [23, "grasped", null], [63, "success", null], [64, "lost_success", null], [67, "success", null], [150, "lost_success", null], [151, "success", null], [170, "lost_success", null], [171, "success", null], [184, "lost_success", null], [185, "success", null], [192, "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": 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": 62, + "task_plan_idx": 40, + "init_config_idx": 62, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [419.13, 267.04]], [14, "contact", null], [15, "grasped", null], [[26, 27, 28], "collision", [32.69, 30.32, 31.36]], [29, "success", 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, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80], "collision", [33.82, 37.58, 36.23, 34.14, 35.57, 36.33, 37.53, 34.28, 34.19, 41.42, 51.35, 40.8, 42.72, 17.96, 16.68, 21.86, 19.8, 21.38, 39.29, 44.34, 37.71, 51.15, 26.62, 29.57, 31.56, 25.74, 34.29, 30.33, 28.01, 26.46, 23.03, 19.89, 11.78, 9.98, 4.59, 0.16, 0.21, 3.04, 5.07, 2.96, 1.62, 1.58, 1.36, 3.17, 6.3, 2.26, 2.55, 4.87, 2.64, 7.23, 5.47, 2.59]], [81, "lost_success", null], [[81], "collision", [4.29]], [82, "success", null], [[82, 83], "collision", [5.44, 4.24]], [84, "lost_success", null], [[84], "collision", [3.39]], [85, "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, 110, 111, 112, 113, 114, 115], "collision", [2.28, 3.58, 4.45, 6.28, 5.29, 0.73, 6.34, 3.84, 3.03, 4.62, 5.19, 6.96, 4.22, 5.59, 7.52, 6.17, 5.04, 5.18, 7.72, 6.47, 7.51, 7.46, 7.32, 5.61, 5.81, 8.16, 2.43, 4.08, 6.41, 3.17, 9.97]], [116, "lost_success", null], [[116, 117], "collision", [3.51, 5.32]], [118, "success", null], [[118, 119, 120], "collision", [5.07, 4.84, 0.53]], [121, "lost_success", null], [[121, 122, 123, 124, 125, 126, 127, 128, 129, 131, 132, 133, 134, 135, 136], "collision", [0.77, 3.79, 4.32, 3.14, 2.38, 2.97, 3.8, 0.7, 1.06, 0.26, 0.41, 3.63, 0.81, 1.74, 0.63]], [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, 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", [5.42, 6.05, 2.67, 4.2, 1.48, 5.0, 3.05, 1.88, 4.61, 3.42, 2.23, 0.78, 0.37, 1.3, 3.85, 4.39, 2.32, 5.51, 3.7, 4.38, 3.65, 3.92, 4.73, 3.45, 5.45, 5.02, 0.94, 1.31, 2.51, 6.47, 6.29, 1.87, 5.12, 4.62, 3.49, 5.63, 6.62, 5.09, 3.02, 5.1, 3.17, 4.5, 2.76, 4.83, 8.48, 9.42, 4.42, 3.79, 5.12, 3.51, 5.38, 4.59, 0.77, 1.88, 1.89, 2.21, 1.18, 3.91, 1.85, 0.82, 3.39, 3.45, 3.35]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 35, + "init_config_idx": 101, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 10, 12], "collision", [824.27, 98.21, 146.32]], [16, "contact", null], [16, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37], "collision", [8.02, 35.96, 14.95, 10.78, 22.73, 19.82, 16.25, 17.57, 15.7, 17.17, 14.36, 14.2, 14.96, 13.22, 15.43, 15.62, 14.96, 12.84, 15.06, 16.29]], [38, "success", null], [[38, 39, 40, 41, 42, 43], "collision", [16.8, 15.57, 17.64, 14.97, 16.04, 13.27]], [44, "lost_success", null], [[44, 45], "collision", [13.67, 14.52]], [46, "success", null], [[46, 47, 48, 49], "collision", [14.19, 14.44, 16.28, 14.46]], [50, "lost_success", null], [[50], "collision", [13.55]], [51, "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], "collision", [19.06, 17.79, 17.3, 17.83, 20.38, 21.33, 19.95, 20.81, 19.94, 17.65, 17.77, 17.82, 20.8, 23.71, 18.82, 19.03, 19.51, 22.83, 21.06, 21.6, 21.87, 20.45, 24.03, 21.96, 20.84, 22.65, 24.56, 20.38, 20.08, 19.97, 21.98, 23.01, 23.85, 23.75, 20.24, 20.99, 24.1, 21.35, 21.91, 25.17, 25.87, 26.04, 20.87, 20.7, 20.72, 23.01, 22.31, 21.31, 23.74, 23.06, 22.69, 23.68, 19.24]], [104, "lost_success", null], [[104, 105, 106, 107, 108, 109, 110, 111], "collision", [20.74, 23.91, 16.74, 14.61, 14.4, 13.52, 13.12, 14.27]], [112, "success", null], [[112], "collision", [14.99]], [113, "lost_success", null], [[113, 114, 115, 116, 117], "collision", [14.69, 23.22, 18.02, 19.23, 12.09]], [118, "success", null], [[118, 119, 120, 121, 122, 123, 124, 125, 126], "collision", [13.16, 16.65, 17.53, 16.59, 19.59, 17.11, 17.38, 17.34, 19.97]], [127, "lost_success", null], [[127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141], "collision", [17.2, 22.09, 17.3, 18.6, 19.65, 16.83, 21.08, 24.18, 23.41, 22.02, 19.09, 19.56, 23.4, 23.39, 22.97]], [142, "success", null], [[142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "collision", [23.13, 22.73, 21.73, 25.3, 25.12, 23.62, 25.53, 26.47, 26.51, 26.25, 25.08, 23.77, 25.24, 23.44, 21.72, 20.16, 23.58]], [159, "lost_success", null], [[159, 160, 161], "collision", [23.38, 23.55, 22.37]], [162, "success", null], [[162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177], "collision", [21.61, 22.01, 22.01, 20.49, 17.11, 16.0, 16.68, 17.64, 18.27, 15.25, 14.39, 13.61, 12.94, 14.3, 14.89, 11.05]], [178, "lost_success", null], [[178, 179], "collision", [10.25, 14.46]], [180, "success", null], [[180], "collision", [14.35]], [181, "lost_success", null], [[181], "collision", [14.08]], [182, "success", null], [[182], "collision", [13.12]], [183, "lost_success", null], [[183], "collision", [13.32]], [184, "success", null], [[184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195], "collision", [14.72, 16.51, 17.13, 13.41, 16.63, 13.24, 17.56, 20.31, 15.83, 16.43, 16.29, 18.47]], [196, "lost_success", null], [[196, 197, 198, 199], "collision", [13.84, 18.51, 21.32, 21.22]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 63, + "task_plan_idx": 66, + "init_config_idx": 83, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [[19], "collision", [38.77]], [20, "grasped", null], [[22, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38], "collision", [5.1, 6.91, 4.45, 2.5, 3.18, 5.44, 3.48, 5.8, 4.85, 3.51, 3.12, 7.42]], [39, "success", null], [[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, 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], "collision", [6.76, 5.49, 3.64, 6.3, 4.83, 4.9, 4.79, 3.38, 4.62, 3.45, 4.64, 3.99, 5.71, 5.58, 6.66, 5.3, 4.58, 6.65, 5.47, 5.07, 7.64, 4.65, 6.75, 5.01, 5.29, 5.29, 5.66, 4.87, 3.6, 5.44, 4.17, 4.34, 5.38, 5.57, 6.61, 5.05, 5.9, 7.47, 7.91, 6.15, 7.85, 6.27, 7.51, 4.24, 3.15, 5.96, 3.7, 5.02, 3.34, 5.59, 7.03, 5.39, 3.68, 7.09, 3.44, 4.83, 6.67, 5.81, 7.37, 6.76, 6.48, 6.36, 5.61, 5.95, 6.29, 6.0, 7.05, 7.21, 6.63, 6.75, 5.28, 6.35, 6.58, 4.87, 5.87, 4.32, 3.19, 3.69, 5.02, 4.25, 6.87, 5.2, 4.64, 5.18, 6.93, 3.17, 5.77, 4.53, 5.1, 5.66, 6.1, 6.17, 5.28, 5.48, 4.62, 4.07, 6.15, 5.13, 4.44, 3.52, 4.75, 4.61, 5.44, 4.54, 6.04, 4.92, 3.29, 3.29, 3.31, 4.42, 3.46, 4.07, 4.42, 4.78, 4.53, 2.73, 2.53, 5.71, 5.46, 4.79, 5.74, 5.5, 6.22, 5.71, 5.33, 3.87, 3.74, 4.68, 5.78, 4.6, 4.21, 5.96, 5.68, 4.47, 5.55, 4.67, 4.01, 6.24, 5.63, 6.45, 3.69, 4.53, 6.13, 5.54, 5.4]], [184, "lost_success", null], [[184], "collision", [5.73]], [185, "success", null], [[185, 186], "collision", [6.16, 6.32]], [187, "lost_success", null], [[187], "collision", [6.68]], [188, "success", null], [[188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [6.05, 5.32, 2.64, 3.78, 4.31, 6.29, 4.58, 5.42, 4.75, 5.79, 6.81, 5.74]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 25, + "init_config_idx": 20, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [[25], "collision", [95.15]], [40, "success", null], [46, "lost_success", null], [47, "success", null], [68, "lost_success", null], [[154, 155, 156, 157, 158, 160, 161], "collision", [75.75, 88.52, 63.26, 16.05, 8.34, 32.0, 11.0]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 63, + "task_plan_idx": 44, + "init_config_idx": 74, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [[14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34], "collision", [25.97, 19.97, 12.36, 17.03, 17.07, 15.31, 10.82, 3.99, 5.85, 9.25, 4.57, 3.3, 2.75, 2.61, 3.84, 4.36, 2.26, 4.28, 4.93, 3.0, 3.43]], [35, "success", null], [[35, 36, 37, 38, 39, 40], "collision", [4.12, 3.65, 3.58, 2.5, 3.95, 2.34]], [41, "lost_success", null], [[41], "collision", [4.72]], [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", [4.36, 6.18, 6.16, 5.39, 5.93, 4.29, 3.18, 3.98, 6.09, 4.24, 5.17, 7.17, 5.34, 4.75, 6.67, 5.53, 5.77, 7.4, 2.81, 2.96, 5.09, 3.49, 4.79]], [65, "lost_success", null], [[65, 66, 67], "collision", [4.71, 4.67, 4.54]], [68, "success", null], [[68], "collision", [2.67]], [69, "lost_success", null], [[69], "collision", [2.27]], [70, "success", null], [[70, 71, 72, 73, 74, 75, 76], "collision", [1.9, 2.64, 5.78, 4.04, 6.67, 6.59, 3.88]], [77, "lost_success", null], [[77, 78], "collision", [2.63, 3.3]], [79, "success", null], [[79, 80, 81, 82, 83, 84], "collision", [1.33, 2.48, 1.63, 2.47, 4.48, 4.39]], [85, "lost_success", null], [[85, 86], "collision", [7.72, 2.17]], [87, "success", null], [[87, 88], "collision", [2.36, 3.13]], [89, "lost_success", null], [[89], "collision", [2.81]], [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, 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", [5.71, 2.33, 5.5, 6.56, 6.79, 4.95, 3.62, 2.67, 5.11, 4.4, 2.58, 3.84, 0.15, 2.14, 5.99, 7.93, 9.38, 12.29, 6.02, 3.65, 2.49, 1.66, 2.49, 1.7, 1.16, 3.49, 2.69, 0.82, 3.83, 5.74, 1.2, 1.03, 1.35, 5.52, 2.28, 3.96, 5.29, 3.94, 5.39, 4.51, 5.12, 2.56, 4.59, 3.81, 5.88, 3.41, 3.04, 4.88, 2.44, 4.23, 4.4, 6.78, 3.77, 5.7, 3.25, 2.12, 4.58, 1.32, 3.83, 4.72, 4.75, 4.71, 4.13, 3.19, 3.91, 3.68, 4.01, 5.95, 5.38, 4.1, 4.52, 5.11, 2.59, 6.42, 6.63, 4.81, 7.02, 5.11, 5.21, 4.63, 2.1, 4.44, 4.53, 3.85, 5.07, 2.2, 2.94, 1.43, 5.69, 2.85, 5.23, 5.86, 3.09, 2.2, 1.7, 3.4, 2.96, 2.31, 4.89, 6.18, 4.33, 5.17, 4.06, 5.67, 4.06, 5.0, 4.25, 4.04, 4.22, 4.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 64, + "task_plan_idx": 148, + "init_config_idx": 70, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16], "collision", [12.63, 87.33]], [21, "contact", null], [21, "grasped", null], [50, "success", null], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [66, "lost_success", null], [71, "success", null], [74, "lost_success", null], [78, "success", null], [80, "lost_success", null], [85, "success", null], [86, "lost_success", null], [99, "success", null], [106, "lost_success", null], [108, "success", null], [120, "lost_success", null], [136, "success", null], [153, "lost_success", null], [154, "success", null], [162, "lost_success", null], [166, "success", null], [188, "lost_success", null], [189, "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": 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": 64, + "task_plan_idx": 72, + "init_config_idx": 39, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 17, 18], "collision", [3119.55, 287.7, 505.16]], [19, "contact", null], [20, "lost_contact", null], [21, "contact", null], [21, "grasped", null], [48, "success", null], [56, "lost_success", null], [57, "success", null], [79, "lost_success", null], [80, "success", null], [91, "lost_success", null], [92, "success", null], [95, "lost_success", null], [99, "success", null], [109, "lost_success", null], [112, "success", null], [127, "lost_success", null], [128, "success", null], [130, "lost_success", null], [132, "success", null], [143, "lost_success", null], [144, "success", null], [146, "lost_success", null], [147, "success", null], [155, "lost_success", null], [156, "success", null], [159, "lost_success", null], [160, "success", null], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null], [173, "lost_success", null], [174, "success", null], [175, "lost_success", null], [177, "success", null], [183, "lost_success", null], [185, "success", null], [186, "lost_success", null], [187, "success", null], [191, "lost_success", null], [194, "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": 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": 65, + "task_plan_idx": 55, + "init_config_idx": 99, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 20], "collision", [363.13, 128.0]], [23, "contact", null], [23, "grasped", null], [46, "success", null], [49, "lost_success", null], [50, "success", null], [55, "lost_success", null], [67, "success", null], [[68, 69, 70, 71, 72, 73], "collision", [45.1, 69.68, 71.83, 73.7, 65.91, 72.59]], [74, "lost_success", null], [[74], "collision", [54.18]], [75, "success", null], [[75], "collision", [169.39]], [76, "lost_success", null], [[76, 77], "collision", [60.34, 2.79]], [86, "success", null], [87, "lost_success", null], [154, "success", null], [161, "lost_success", null], [164, "success", null], [167, "lost_success", null], [173, "success", null], [174, "lost_success", null], [175, "success", null], [190, "lost_success", null]], + "articulation_type": "fridge", + "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": 65, + "task_plan_idx": 126, + "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": [[[20], "collision", [5.85]], [21, "contact", null], [21, "grasped", null], [[35, 36, 37, 38, 39, 40, 41, 42, 43], "collision", [0.25, 28.02, 37.38, 42.54, 63.75, 22.73, 18.75, 1.16, 0.17]], [44, "success", null], [[46], "collision", [1.72]], [47, "lost_success", null], [48, "success", null], [52, "lost_success", null], [60, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [3.03, 16.48, 16.18, 15.84, 13.08, 13.87, 29.91, 29.64, 21.98, 18.52]], [90, "lost_success", null], [[90], "collision", [7.84]], [91, "success", null], [[91, 92, 93, 94], "collision", [9.93, 16.01, 16.44, 7.36]], [95, "lost_success", null], [99, "success", null], [[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], "collision", [6.35, 21.38, 26.0, 35.67, 38.21, 48.8, 60.2, 63.26, 64.09, 73.54, 37.68, 47.44, 50.33, 61.13, 73.3, 70.21, 65.66, 60.36, 63.57, 64.18, 64.28, 61.7, 53.71, 49.94, 42.87, 52.12, 49.57, 54.25, 60.15, 47.51]], [140, "lost_success", null], [[140, 141], "collision", [57.88, 69.15]], [142, "success", null], [[142], "collision", [66.4]], [143, "lost_success", null], [[143, 144], "collision", [63.84, 66.01]], [145, "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], "collision", [68.93, 71.01, 59.94, 64.05, 65.5, 47.29, 48.03, 51.0, 51.32, 54.34, 40.42, 44.36, 50.39, 50.63, 57.21, 37.46, 43.16, 43.41, 46.89, 51.46, 53.11, 43.13, 28.16]], [168, "lost_success", null], [[169], "collision", [0.74]], [170, "success", null], [[170, 174, 175, 177, 178, 181, 182], "collision", [0.55, 0.79, 0.5, 0.08, 0.11, 0.69, 0.75]], [183, "lost_success", null], [186, "success", null], [187, "lost_success", null], [[187, 188], "collision", [0.3, 0.56]], [197, "success", null], [[199], "collision", [0.31]]], + "articulation_type": "fridge", + "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": 65, + "task_plan_idx": 42, + "init_config_idx": 86, + "spawn_selection_idx": 8, + "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], [40, "lost_success", null], [41, "success", null], [49, "lost_success", null], [50, "success", null], [52, "lost_success", null], [66, "success", null], [106, "lost_success", null], [109, "success", null], [126, "lost_success", null], [132, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 106, + "init_config_idx": 51, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5], "collision", [1037.84, 190.53]], [20, "contact", null], [20, "grasped", null], [[22, 25, 26, 27], "collision", [0.04, 172.81, 127.35, 0.09]], [40, "success", null], [71, "lost_success", null], [72, "success", null], [84, "lost_success", null], [85, "success", null], [87, "lost_success", null], [88, "success", null], [89, "lost_success", null], [94, "success", null], [99, "lost_success", null], [100, "success", null], [110, "lost_success", null], [112, "success", null], [132, "lost_success", null], [133, "success", null], [136, "lost_success", null], [137, "success", null], [140, "lost_success", null], [141, "success", null], [180, "lost_success", null], [181, "success", null], [187, "lost_success", null], [189, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 29, + "init_config_idx": 9, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7], "collision", [112.75, 158.69]], [12, "contact", null], [12, "grasped", null], [25, "success", null], [26, "lost_success", null], [[27, 28, 29, 30, 31], "collision", [99.66, 55.78, 10.43, 44.36, 10.02]], [36, "success", null], [39, "lost_success", null], [40, "success", null], [41, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [54, "lost_success", null], [55, "success", null], [[76, 77, 78, 79, 81], "collision", [6.75, 31.22, 23.27, 17.49, 12.03]], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [137, "success", null], [138, "lost_success", null], [140, "success", null], [141, "lost_success", null], [143, "success", null], [145, "lost_success", null], [146, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "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": 66, + "task_plan_idx": 128, + "init_config_idx": 132, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [36, "success", null], [37, "lost_success", null], [38, "success", null], [39, "lost_success", null], [51, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [64, "lost_success", null], [74, "success", null], [76, "lost_success", null], [80, "success", null], [81, "lost_success", null], [84, "success", null], [87, "lost_success", null], [97, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 157, + "init_config_idx": 59, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [523.21, 271.2]], [15, "contact", null], [16, "grasped", null], [[18, 19], "collision", [6.94, 0.73]], [34, "success", null], [109, "lost_success", null], [119, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 67, + "task_plan_idx": 138, + "init_config_idx": 110, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [217.47]], [16, "contact", null], [16, "grasped", null], [31, "success", null], [56, "lost_success", null], [57, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 67, + "task_plan_idx": 86, + "init_config_idx": 87, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 35, 36, 37], "collision", [14.78, 105.15, 126.26, 120.12, 134.44, 144.43, 185.04, 384.82, 473.79, 250.4, 344.74, 492.63, 471.44, 224.33, 195.96, 423.01, 262.54]], [38, "contact", null], [[38], "collision", [406.16]], [39, "lost_contact", null], [40, "contact", null], [40, "grasped", null], [94, "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": 68, + "task_plan_idx": 68, + "init_config_idx": 7, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 15, 16], "collision", [28.82, 39.6, 43.46, 64.62, 79.77, 12.37]], [22, "contact", null], [22, "grasped", null], [59, "success", null], [72, "lost_success", null], [74, "success", null], [75, "lost_success", null], [77, "success", null], [88, "lost_success", null], [89, "success", null], [95, "lost_success", null], [96, "success", null], [164, "lost_success", null], [165, "success", null], [169, "lost_success", null], [170, "success", null], [173, "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": 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": 6, + "task_plan_idx": 86, + "init_config_idx": 47, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 12, 14, 15, 16, 17, 18, 19, 22, 23], "collision", [388.81, 129.06, 14.34, 74.08, 342.77, 284.32, 333.7, 308.33, 237.95, 465.26, 383.66, 134.52]], [25, "contact", null], [26, "grasped", null], [179, "success", null], [185, "lost_success", null]], + "articulation_type": "fridge", + "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": 6, + "task_plan_idx": 94, + "init_config_idx": 13, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [279.22]], [13, "contact", null], [13, "grasped", null], [27, "success", null], [[39, 41, 43, 78, 79, 80, 81, 82], "collision", [2.55, 0.25, 1.74, 1.06, 0.73, 0.01, 0.12, 4.63]]], + "articulation_type": "fridge", + "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": 7, + "task_plan_idx": 69, + "init_config_idx": 141, + "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], [22, "grasped", null], [[22, 35, 36, 37, 38, 39, 40], "collision", [3.24, 39.65, 48.09, 55.44, 72.7, 45.7, 67.02]], [41, "success", null], [[41, 42, 43, 44, 45, 46, 47, 48], "collision", [75.55, 60.53, 59.41, 38.65, 18.73, 39.87, 31.58, 34.06]], [49, "lost_success", null], [[49, 50, 51, 52], "collision", [42.2, 43.08, 44.17, 22.37]], [53, "success", null], [[53, 54, 55, 56, 57, 58, 60, 61, 62], "collision", [16.26, 8.52, 9.47, 14.93, 12.96, 10.54, 5.93, 2.99, 5.59]], [63, "lost_success", null], [[63, 64, 65, 66, 67, 68, 69], "collision", [4.36, 3.05, 1.78, 2.28, 6.3, 16.31, 10.68]], [75, "success", null], [104, "lost_success", null], [107, "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": 7, + "task_plan_idx": 167, + "init_config_idx": 170, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [22.44]], [19, "contact", null], [19, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26, 30], "collision", [128.0, 43.31, 49.3, 54.72, 48.48, 44.71, 51.72, 52.36, 2.19]], [43, "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, 114, 115, 116, 118, 119, 120], "collision", [131.51, 29.64, 76.24, 111.23, 85.27, 99.38, 28.63, 57.79, 23.79, 9.81, 45.62, 10.17, 30.89, 29.27, 37.08, 44.27, 22.14, 30.41, 4.66, 12.44, 27.44, 28.93, 40.35, 60.69, 19.57, 47.32, 24.13, 19.99, 11.22, 8.08, 10.66, 19.59, 1.97, 3.51]], [136, "lost_success", null], [140, "success", null], [144, "lost_success", null], [[145], "collision", [185.61]], [146, "success", null], [[146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 160, 161], "collision", [115.58, 105.44, 111.0, 86.1, 67.16, 66.57, 61.96, 59.73, 52.7, 35.34, 15.19, 36.58, 27.52, 8.08, 11.17]]], + "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": 7, + "task_plan_idx": 29, + "init_config_idx": 75, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [46, "success", null], [65, "lost_success", null], [66, "success", null], [112, "lost_success", null], [113, "success", null], [125, "lost_success", null], [126, "success", null], [148, "lost_success", null], [150, "success", null], [151, "lost_success", null], [153, "success", null], [161, "lost_success", null], [175, "success", null], [176, "lost_success", null], [177, "success", null], [193, "lost_success", null], [194, "success", null], [197, "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": 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": 8, + "task_plan_idx": 45, + "init_config_idx": 106, + "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, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33], "collision", [146.28, 95.85, 134.41, 124.14, 180.61, 133.88, 780.43, 433.84, 309.95, 249.43, 348.84, 232.37, 384.09, 359.77, 433.0, 420.11]], [36, "contact", null], [37, "lost_contact", null], [38, "contact", null], [38, "grasped", null], [149, "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": 9, + "task_plan_idx": 32, + "init_config_idx": 25, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [946.41]], [20, "contact", null], [20, "grasped", null], [55, "success", null], [62, "lost_success", null], [66, "success", null], [67, "lost_success", null], [78, "success", null], [115, "lost_success", null], [117, "success", null], [123, "lost_success", null], [124, "success", null], [136, "lost_success", null], [141, "success", null], [145, "lost_success", null], [147, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 10, + "task_plan_idx": 145, + "init_config_idx": 74, + "spawn_selection_idx": 76, + "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, 31], "collision", [205.19, 200.12, 144.41, 390.12, 588.98, 384.56, 477.68, 544.25]], [32, "contact", null], [32, "grasped", null], [[32], "collision", [438.18]], [157, "success", null], [159, "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": 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": 11, + "task_plan_idx": 85, + "init_config_idx": 132, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16, 18], "collision", [158.9, 165.75, 173.65, 135.52, 139.56, 187.68]], [19, "contact", null], [20, "grasped", null], [[28], "collision", [221.08]], [48, "success", null], [99, "lost_success", null], [118, "success", null]], + "articulation_type": "fridge", + "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": 11, + "task_plan_idx": 28, + "init_config_idx": 43, + "spawn_selection_idx": 74, + "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], [49, "lost_success", null], [52, "success", null], [53, "lost_success", null], [66, "success", null], [67, "lost_success", null], [77, "success", null], [85, "lost_success", null], [92, "success", null], [148, "lost_success", null], [159, "success", null], [162, "lost_success", null], [171, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 12, + "task_plan_idx": 143, + "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": [[18, "contact", null], [18, "grasped", null], [37, "success", null], [59, "lost_success", null], [77, "success", null], [[148, 150, 151, 154, 155, 156, 159, 163, 165, 168, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 191, 193, 194], "collision", [7.45, 1.02, 0.35, 1.64, 4.16, 0.14, 0.62, 4.11, 3.06, 4.92, 15.16, 21.79, 18.3, 12.33, 12.12, 9.26, 12.72, 15.51, 18.09, 5.42, 4.56, 3.53, 3.15, 1.0, 2.59, 16.29, 14.08, 5.89]], [195, "lost_success", null], [[195, 196, 197, 198, 199], "collision", [2.75, 1.31, 1.66, 0.96, 3.76]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 12, + "task_plan_idx": 33, + "init_config_idx": 73, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6], "collision", [633.56, 122.98]], [13, "contact", null], [13, "grasped", null], [25, "success", null], [159, "lost_success", null], [163, "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": 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": 13, + "task_plan_idx": 36, + "init_config_idx": 109, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [[27, 28, 29], "collision", [10.33, 94.73, 84.88]], [30, "success", null], [[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, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [143.0, 91.14, 52.03, 63.82, 59.02, 56.94, 58.85, 54.63, 54.23, 64.59, 45.17, 38.03, 26.25, 16.79, 18.22, 16.04, 15.55, 12.29, 10.71, 12.04, 11.81, 12.91, 17.98, 10.17, 11.22, 7.36, 10.74, 7.97, 74.81, 67.7, 24.78, 27.93, 33.98, 42.19, 24.38, 15.12, 2.47]], [94, "lost_success", null], [95, "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], "collision", [17.4, 12.77, 19.12, 18.86, 14.24, 10.64, 15.01, 11.61, 8.46, 12.2, 14.44, 12.21, 18.05, 17.64, 21.72, 21.32, 28.59, 26.86, 33.81, 26.84, 30.33, 23.64, 25.93, 26.81, 43.8, 28.98, 35.86, 30.64, 34.88, 26.39, 29.21, 24.36, 22.77, 26.7, 25.14, 17.99, 20.6, 9.19, 8.18, 6.38, 30.24, 28.38, 21.57, 21.61, 23.62, 24.47, 26.02, 29.13, 24.3, 33.62, 35.34, 37.26]], [168, "lost_success", null], [[168], "collision", [30.59]], [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", [33.91, 32.1, 31.99, 28.3, 27.41, 26.07, 22.85, 23.84, 25.24, 26.38, 27.75, 26.91, 27.4, 31.39, 27.05, 29.09, 25.4, 31.32, 26.32, 24.48, 26.79, 9.3, 7.92, 6.73, 7.5, 7.49, 10.14, 10.81, 9.89, 8.26, 11.89]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 13, + "task_plan_idx": 111, + "init_config_idx": 144, + "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], [48, "success", null], [70, "lost_success", null], [74, "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": 13, + "task_plan_idx": 126, + "init_config_idx": 60, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19, 20, 21], "collision", [509.61, 510.71, 453.25]], [24, "contact", null], [24, "grasped", null], [87, "success", null], [99, "lost_success", null], [106, "success", null], [109, "lost_success", null], [110, "success", null], [111, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 14, + "task_plan_idx": 30, + "init_config_idx": 142, + "spawn_selection_idx": 60, + "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], [41, "lost_success", null], [53, "success", null], [55, "lost_success", null], [56, "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": 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": 15, + "task_plan_idx": 7, + "init_config_idx": 95, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [36.31, 42.73]], [15, "contact", null], [15, "grasped", null], [[15], "collision", [433.84]], [33, "success", null], [64, "lost_success", null], [66, "success", null], [70, "lost_success", null], [71, "success", null], [82, "lost_success", null], [84, "success", null], [85, "lost_success", null], [86, "success", null], [87, "lost_success", null], [89, "success", null], [90, "lost_success", null], [92, "success", null], [93, "lost_success", null], [94, "success", null], [95, "lost_success", null], [96, "success", null], [102, "lost_success", null], [104, "success", null], [106, "lost_success", null], [107, "success", null], [115, "lost_success", null], [116, "success", null], [135, "lost_success", null], [136, "success", null], [139, "lost_success", null], [143, "success", null], [174, "lost_success", null], [175, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 34, + "init_config_idx": 99, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15], "collision", [8.25, 59.39, 118.09]], [19, "contact", null], [20, "grasped", null], [45, "success", null], [48, "lost_success", null], [49, "success", null], [51, "lost_success", null], [57, "success", null], [66, "lost_success", null], [68, "success", null], [69, "lost_success", null], [76, "success", null], [77, "lost_success", null], [81, "success", null], [84, "lost_success", null], [85, "success", null], [91, "lost_success", null], [92, "success", null], [98, "lost_success", null], [99, "success", null], [100, "lost_success", null], [116, "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": 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": 15, + "task_plan_idx": 10, + "init_config_idx": 7, + "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], [43, "success", null], [[43], "collision", [183.26]], [44, "lost_success", null], [[44], "collision", [113.92]], [45, "success", null], [[45, 46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [91.68, 133.25, 104.8, 114.64, 109.74, 116.58, 68.63, 59.44, 57.97, 72.49]], [55, "lost_success", null], [[55], "collision", [55.29]], [56, "success", null], [[56], "collision", [45.13]], [57, "lost_success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75], "collision", [12.9, 12.95, 13.17, 12.12, 11.43, 15.14, 14.74, 14.59, 16.97, 15.26, 15.88, 16.42, 16.66, 15.69, 17.62, 16.33, 15.8, 15.59, 12.96]], [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, 115, 116, 117], "collision", [13.17, 12.29, 12.53, 12.8, 11.06, 11.95, 11.24, 12.0, 11.74, 25.62, 29.58, 33.0, 32.43, 38.89, 34.7, 32.06, 43.55, 38.37, 35.89, 33.64, 30.49, 32.95, 29.99, 31.11, 22.63, 15.09, 15.79, 11.69, 10.85, 10.97, 11.34, 10.87, 11.31, 11.71, 11.49, 12.61, 12.63, 12.57, 12.76, 12.5, 12.08, 12.84]], [118, "lost_success", null], [[118], "collision", [13.24]], [119, "success", null], [[119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129], "collision", [13.34, 13.07, 12.52, 13.28, 12.89, 12.88, 12.96, 12.92, 12.67, 13.01, 12.56]], [130, "lost_success", null], [[130, 131], "collision", [12.54, 11.2]], [132, "success", null], [[132], "collision", [11.93]], [133, "lost_success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149], "collision", [10.77, 10.94, 10.63, 10.67, 10.2, 9.63, 10.65, 9.88, 10.97, 10.72, 9.48, 32.58, 4.79, 0.43, 0.49, 0.77, 0.62]], [155, "success", null], [[168], "collision", [19.3]], [169, "lost_success", null], [[169, 170], "collision", [27.93, 31.2]], [171, "success", null], [[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", [27.94, 22.58, 29.97, 31.05, 46.23, 40.26, 27.34, 35.68, 33.27, 33.99, 24.26, 18.13, 33.18, 28.47, 49.49, 48.21, 36.03, 20.11, 15.14, 12.84, 8.66, 12.59, 38.66, 17.87, 12.14, 26.43, 22.13, 10.86, 12.12]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 17, + "task_plan_idx": 27, + "init_config_idx": 58, + "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], [22, "grasped", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [80, "lost_success", null], [82, "success", null], [88, "lost_success", null], [90, "success", null], [91, "lost_success", null], [93, "success", null], [117, "lost_success", null], [119, "success", null], [144, "lost_success", null], [146, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 18, + "task_plan_idx": 80, + "init_config_idx": 117, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9, 10, 11, 12], "collision", [515.98, 328.54, 243.6, 208.61, 187.58, 175.13, 154.11, 411.74]], [16, "contact", null], [16, "grasped", null], [33, "success", null], [34, "lost_success", null], [36, "success", null], [38, "lost_success", null], [56, "success", null], [90, "lost_success", null], [95, "success", null], [100, "lost_success", null], [102, "success", null], [104, "lost_success", null], [105, "success", null], [145, "lost_success", null], [147, "success", null], [155, "lost_success", null], [156, "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": 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": 18, + "task_plan_idx": 102, + "init_config_idx": 119, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 19, 21], "collision", [927.78, 88.15, 133.45]], [22, "contact", null], [22, "grasped", null], [[22, 48, 49, 50, 51], "collision", [1169.2, 94.24, 74.93, 100.7, 66.49]], [52, "success", null], [[52], "collision", [72.64]], [53, "lost_success", null], [[53], "collision", [40.09]], [54, "success", null], [[54, 55, 57, 58, 59, 61], "collision", [65.84, 73.93, 91.6, 56.74, 59.57, 35.21]], [62, "lost_success", null], [[62], "collision", [20.32]], [63, "success", null], [64, "lost_success", null], [[64, 70], "collision", [17.36, 24.5]], [72, "success", null], [[72, 77], "collision", [63.55, 6.48]], [78, "lost_success", null], [[78], "collision", [65.41]], [79, "success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 88, 89, 90, 91, 93, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 112, 113, 116, 117, 119, 120, 121, 122, 123, 124], "collision", [29.43, 17.44, 27.67, 12.21, 30.71, 26.91, 47.67, 59.56, 16.22, 13.04, 10.15, 23.27, 9.01, 18.6, 20.96, 32.14, 26.85, 36.62, 51.13, 32.42, 31.85, 13.75, 11.16, 21.28, 18.9, 6.62, 0.58, 27.42, 34.72, 20.05, 41.03, 12.65, 56.95, 30.12]], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 19, + "task_plan_idx": 152, + "init_config_idx": 115, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[27, "contact", null], [27, "grasped", null], [[35, 36], "collision", [0.73, 0.8]], [45, "success", null], [47, "lost_success", null], [[47], "collision", [24.67]], [48, "success", null], [[48], "collision", [9.73]], [49, "lost_success", null], [52, "success", null], [55, "lost_success", null], [56, "success", null], [61, "lost_success", null], [68, "success", null], [69, "lost_success", null], [71, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 20, + "task_plan_idx": 123, + "init_config_idx": 104, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[44], "collision", [31.86]], [45, "success", null], [[45], "collision", [37.58]], [46, "lost_success", null], [[46], "collision", [15.31]], [47, "success", null], [[47, 48, 49, 50, 51], "collision", [0.62, 3.74, 3.36, 5.13, 4.16]], [52, "lost_success", null], [[52, 53], "collision", [0.29, 44.55]], [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, 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, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.53, 3.33, 1.6, 2.4, 4.43, 2.85, 4.03, 5.69, 4.57, 3.8, 3.76, 4.63, 3.64, 0.94, 3.5, 1.87, 2.86, 4.01, 2.73, 2.39, 5.28, 2.22, 3.06, 2.12, 1.77, 2.69, 2.06, 2.96, 1.6, 2.66, 1.85, 2.1, 3.07, 1.36, 2.04, 0.66, 1.25, 2.16, 1.63, 2.89, 0.83, 2.48, 3.44, 3.51, 2.55, 1.56, 3.0, 1.96, 2.69, 2.7, 3.25, 3.62, 2.93, 2.01, 2.23, 1.52, 4.24, 3.45, 5.38, 3.07, 2.3, 5.13, 1.98, 3.18, 2.49, 2.84, 2.57, 2.12, 4.17, 4.59, 1.42, 3.24, 3.14, 2.13, 1.97, 1.59, 5.03, 3.99, 1.87, 4.93, 2.67, 3.12, 4.2, 2.92, 3.77, 3.51, 2.17, 1.34, 0.66, 1.19, 1.86, 1.74, 3.08, 3.09, 2.54, 3.41, 2.65, 2.58, 1.63, 1.52, 3.73, 2.9, 3.4, 1.71, 2.14, 1.64, 1.97, 1.57, 1.86, 2.48, 2.14, 1.77, 0.92, 0.87, 3.01, 1.5, 1.46, 1.22, 2.33, 1.09, 2.17, 1.06, 2.14, 1.17, 1.65, 1.65, 1.44, 1.55, 0.32, 0.33, 0.31, 0.86, 0.75, 0.25, 0.52, 0.27, 0.47, 0.23, 0.19, 0.33, 0.18, 0.24, 0.44, 0.31, 0.23]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 152, + "init_config_idx": 8, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9], "collision", [117.55, 130.08, 140.16, 48.78, 16.22]], [12, "contact", null], [12, "grasped", null], [25, "success", null], [27, "lost_success", null], [28, "success", null], [29, "lost_success", null], [30, "success", null], [41, "lost_success", null], [42, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "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": 21, + "task_plan_idx": 47, + "init_config_idx": 132, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 15, 16, 17, 18], "collision", [1278.11, 151.34, 158.99, 164.09, 81.26]], [19, "contact", null], [[19], "collision", [54.64]], [20, "grasped", null], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 65, 67, 70, 75, 76, 77, 78, 79, 80, 81, 82, 83], "collision", [9.54, 45.53, 28.02, 43.37, 34.67, 48.64, 43.72, 25.15, 42.15, 26.49, 19.18, 5.21, 11.13, 8.82, 25.5, 39.76, 20.13, 29.94, 49.4, 41.45, 43.59, 94.45, 89.9, 48.77]], [84, "lost_success", null], [[84], "collision", [59.43]], [85, "success", null], [[86, 87, 88, 90, 91, 92, 93, 96], "collision", [79.54, 53.32, 53.31, 103.94, 80.59, 71.85, 75.46, 8.21]], [97, "lost_success", null], [99, "success", null], [100, "lost_success", null], [109, "success", null], [111, "lost_success", null], [112, "success", null], [119, "lost_success", null], [120, "success", null], [125, "lost_success", null], [131, "success", null], [132, "lost_success", null], [134, "success", null], [138, "lost_success", null], [140, "success", null], [146, "lost_success", null], [148, "success", null], [[162, 163, 164, 165, 166, 168, 169], "collision", [24.11, 21.73, 39.72, 23.95, 18.96, 4.92, 4.5]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 22, + "task_plan_idx": 60, + "init_config_idx": 95, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 12, 13, 14, 16], "collision", [105.94, 368.07, 194.99, 184.65, 212.37, 506.68]], [20, "contact", null], [20, "grasped", null], [46, "success", null], [58, "lost_success", null], [68, "success", null], [70, "lost_success", null], [88, "success", null], [93, "lost_success", null], [98, "success", null], [99, "lost_success", null], [100, "success", null], [110, "lost_success", null], [111, "success", null], [124, "lost_success", null], [127, "success", null], [165, "lost_success", null], [167, "success", null], [181, "lost_success", null], [184, "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": 23, + "task_plan_idx": 83, + "init_config_idx": 163, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [[19, 20, 21, 22, 26, 28, 32, 33, 34], "collision", [1.25, 5.68, 3.3, 3.71, 1.36, 0.08, 13.77, 36.54, 14.9]], [35, "success", null], [[41, 45, 46, 47], "collision", [8.19, 0.08, 1.17, 0.56]], [51, "lost_success", null], [[51], "collision", [0.04]], [52, "success", null], [[52, 76, 77, 78, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 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, 156, 157, 158, 159, 160, 161, 162, 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, 1.36, 2.74, 0.16, 0.17, 0.11, 0.17, 0.07, 0.6, 0.54, 0.65, 0.37, 0.44, 1.62, 0.03, 1.15, 2.41, 0.91, 0.86, 1.67, 1.55, 0.25, 0.11, 0.72, 1.84, 0.81, 0.73, 0.73, 0.24, 0.21, 1.11, 0.24, 1.0, 0.04, 0.04, 0.88, 1.84, 0.74, 0.17, 1.77, 0.36, 25.85, 2.01, 1.74, 20.6, 18.31, 4.55, 8.69, 24.62, 6.9, 27.79, 23.56, 2.28, 11.51, 10.24, 0.24, 1.55, 3.44, 11.27, 15.05, 16.89, 10.92, 19.09, 11.21, 25.71, 15.09, 24.6, 14.45, 11.87, 14.16, 18.22, 22.38, 18.66, 22.59, 10.03, 26.87, 26.02, 15.59, 36.54, 19.19, 23.59, 19.29, 11.73, 14.26, 7.04, 13.97, 32.65, 32.19, 38.69, 25.37, 6.08, 35.44, 38.55, 39.46, 30.76, 37.03, 29.32, 46.91, 58.44, 67.78, 81.74, 46.59, 70.94, 64.79, 61.71, 67.59, 64.61, 66.56, 65.2, 67.86, 57.47, 53.37, 45.43, 25.46, 59.07, 67.11, 65.69, 55.99]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 23, + "task_plan_idx": 110, + "init_config_idx": 32, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53], "collision", [5.94, 18.29, 38.79, 25.1, 31.77, 32.92, 3.59, 2.37, 3.86, 4.61, 2.19, 2.42]], [54, "success", null], [[54], "collision", [1.41]], [55, "lost_success", null], [[55], "collision", [2.21]], [56, "success", null], [57, "lost_success", null], [[58, 60, 61, 62, 63], "collision", [0.64, 1.3, 2.09, 0.9, 0.12]], [64, "success", null], [[64], "collision", [0.21]], [65, "lost_success", null], [[65], "collision", [1.6]], [66, "success", null], [[66], "collision", [1.56]], [67, "lost_success", null], [[68, 69, 70], "collision", [0.62, 0.04, 0.99]], [71, "success", null], [[71, 72], "collision", [0.74, 0.86]], [74, "lost_success", null], [[74], "collision", [2.29]], [75, "success", null], [[75, 76, 78], "collision", [0.1, 1.68, 0.09]], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "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": 24, + "task_plan_idx": 92, + "init_config_idx": 65, + "spawn_selection_idx": 71, + "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], [[25], "collision", [4.37]], [26, "contact", null], [26, "grasped", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [60, "lost_success", null], [64, "success", null], [85, "lost_success", null], [101, "success", null], [113, "lost_success", null], [114, "success", null], [124, "lost_success", null], [146, "success", null], [152, "lost_success", null], [154, "success", null], [158, "lost_success", null], [164, "success", null], [165, "lost_success", null], [167, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [187, "success", null], [188, "lost_success", null], [189, "success", null], [192, "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": 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": 24, + "task_plan_idx": 144, + "init_config_idx": 159, + "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], [[21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 34], "collision", [181.7, 29.92, 2.69, 3.0, 4.3, 8.75, 13.31, 13.67, 18.95, 16.17, 0.0]], [39, "success", null], [48, "lost_success", null], [53, "success", null], [68, "lost_success", null], [69, "success", null], [141, "lost_success", null], [142, "success", null], [164, "lost_success", null], [165, "success", null], [166, "lost_success", null], [167, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 30, + "init_config_idx": 109, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [26.16]], [19, "contact", null], [19, "grasped", null], [48, "success", null], [49, "lost_success", null], [50, "success", null], [53, "lost_success", null], [59, "success", null], [77, "lost_success", null], [93, "success", null], [94, "lost_success", null], [99, "success", null], [101, "lost_success", null], [102, "success", null], [106, "lost_success", null], [107, "success", null], [108, "lost_success", null], [126, "success", null], [128, "lost_success", null], [129, "success", null], [130, "lost_success", null], [132, "success", null], [177, "lost_success", null], [178, "success", null], [183, "lost_success", null], [184, "success", null], [185, "lost_success", null], [187, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 117, + "init_config_idx": 102, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[17, 18, 22, 23, 24, 25, 26], "collision", [356.37, 3090.06, 353.1, 84.13, 88.33, 43.61, 174.71]], [39, "success", null], [49, "lost_success", null], [59, "success", null], [105, "lost_success", null], [107, "success", null], [108, "lost_success", null], [113, "success", null], [151, "lost_success", null], [152, "success", null], [174, "lost_success", null], [176, "success", null], [178, "lost_success", null], [180, "success", null], [182, "lost_success", null], [183, "success", null], [185, "lost_success", null], [[185], "collision", [29.75]], [186, "success", null], [[186, 187, 188, 190], "collision", [27.77, 28.08, 4.44, 0.93]], [191, "lost_success", null], [193, "success", null], [[197, 198, 199], "collision", [9.73, 13.22, 6.82]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 26, + "task_plan_idx": 110, + "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": [[[15, 16, 18, 19, 20, 21, 22, 23], "collision", [121.86, 112.83, 244.38, 170.64, 238.22, 1378.56, 536.7, 191.73]], [26, "contact", null], [27, "grasped", null], [67, "success", null], [69, "lost_success", null], [70, "success", null], [93, "lost_success", null], [99, "success", null], [100, "lost_success", null], [101, "success", null], [104, "lost_success", null], [106, "success", null], [122, "lost_success", null], [124, "success", null], [128, "lost_success", null], [132, "success", null], [149, "lost_success", null], [153, "success", null], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null], [167, "success", null], [168, "lost_success", null], [170, "success", null], [171, "lost_success", null], [173, "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": 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": 27, + "task_plan_idx": 85, + "init_config_idx": 124, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9, 10, 11], "collision", [273.96, 186.45, 156.96, 209.1, 148.07, 127.99, 217.0]], [14, "contact", null], [14, "grasped", null], [[15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], "collision", [53.17, 18.05, 21.67, 320.01, 185.57, 209.45, 140.0, 192.81, 51.75, 85.09, 3.08, 2.04, 7.38, 3.46, 4.96, 3.39, 2.79, 2.19, 2.72, 3.69, 2.75, 2.92, 2.46, 3.79, 3.58]], [40, "success", null], [[40], "collision", [3.11]], [41, "lost_success", null], [[41, 42, 43, 44, 45, 46, 47, 48, 49, 50], "collision", [4.19, 3.52, 3.36, 3.4, 3.83, 3.84, 3.32, 3.63, 3.91, 3.66]], [51, "success", null], [[51, 52, 53, 54, 55], "collision", [3.78, 3.47, 4.02, 4.14, 3.45]], [56, "lost_success", null], [[56, 57], "collision", [2.71, 3.59]], [58, "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], "collision", [3.61, 3.61, 4.09, 4.05, 3.43, 4.47, 4.04, 3.91, 3.85, 3.53, 2.98, 3.19, 3.79, 3.41, 4.24, 3.46, 4.48, 3.92, 3.39, 3.0, 4.1, 3.38, 3.55, 4.45, 3.75]], [83, "lost_success", null], [[83], "collision", [3.64]], [84, "success", null], [[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], "collision", [3.69, 3.7, 3.94, 4.04, 4.23, 3.39, 3.75, 3.27, 3.39, 4.26, 3.71, 3.62, 4.13, 3.74, 3.71, 4.37, 3.55, 4.08, 3.25, 3.46, 3.71, 3.34, 3.9, 3.38, 2.79, 3.27, 3.41, 3.05, 3.19, 3.12, 3.0, 3.41, 3.38, 3.15, 3.17, 3.72, 3.64, 3.72, 3.88, 3.63, 3.51, 3.37, 3.54, 3.29, 3.72, 3.37, 3.9, 3.73]], [132, "lost_success", null], [[132], "collision", [3.71]], [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, 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", [4.22, 3.5, 3.17, 3.48, 3.22, 3.28, 3.92, 4.18, 3.94, 3.27, 3.95, 3.8, 3.43, 4.06, 3.41, 3.46, 3.64, 4.32, 3.66, 4.08, 4.0, 3.81, 3.38, 3.46, 3.71, 3.17, 3.74, 2.54, 2.34, 2.37, 1.62, 2.4, 2.46, 2.84, 3.18, 2.56, 3.01, 3.23, 2.73, 2.89, 3.54, 3.17, 3.34, 3.11, 3.11, 2.45, 2.49, 3.45, 3.53, 3.47, 3.61, 3.81, 3.49, 3.72, 3.6, 3.25, 3.95, 3.08, 3.16, 3.65, 2.99, 2.76, 3.27, 3.12, 2.57, 3.07, 3.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 27, + "task_plan_idx": 116, + "init_config_idx": 82, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[27, "contact", null], [[27], "collision", [252.72]], [28, "grasped", null], [[28], "collision", [157.8]], [57, "success", null], [125, "lost_success", null], [127, "success", null], [129, "lost_success", null], [131, "success", null], [136, "lost_success", null], [137, "success", null], [144, "lost_success", null], [151, "success", null], [158, "lost_success", null], [159, "success", null], [173, "lost_success", null], [184, "success", null], [190, "lost_success", null], [191, "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": 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": 28, + "task_plan_idx": 143, + "init_config_idx": 60, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 14, 16, 20], "collision", [214.02, 245.31, 163.13, 165.55, 138.33, 0.62, 1094.32]], [22, "contact", null], [22, "grasped", null], [43, "success", null], [44, "lost_success", null], [47, "success", null], [56, "lost_success", null], [58, "success", null], [77, "lost_success", null], [79, "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": 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": 29, + "task_plan_idx": 4, + "init_config_idx": 57, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [149.1, 158.15, 182.09, 84.58]], [15, "contact", null], [16, "grasped", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [42, "lost_success", null], [43, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [77, "lost_success", null], [78, "success", null], [82, "lost_success", null], [84, "success", null], [[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, 130, 131, 133, 135, 136, 137, 138, 139, 140, 142, 143, 144, 145, 146, 147, 148, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 179, 180, 181, 182, 183, 184, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.25, 15.9, 31.17, 31.45, 29.95, 46.01, 45.89, 61.03, 55.05, 61.93, 52.53, 51.86, 46.19, 48.24, 49.19, 56.33, 45.34, 32.97, 37.07, 31.57, 29.55, 25.71, 21.42, 24.24, 29.63, 26.67, 19.74, 24.73, 19.74, 20.49, 23.59, 27.16, 23.1, 24.35, 18.34, 30.46, 19.04, 10.29, 8.2, 10.14, 17.1, 10.9, 10.19, 9.48, 5.61, 1.63, 6.47, 10.11, 14.16, 12.86, 8.43, 9.21, 0.43, 17.48, 20.84, 13.37, 28.32, 26.75, 23.72, 46.93, 26.96, 27.64, 28.97, 41.26, 45.57, 39.23, 43.33, 54.99, 28.92, 19.82, 14.4, 14.53, 8.84, 13.81, 26.11, 27.22, 20.27, 11.52, 7.0, 2.63, 17.98, 16.47, 26.82, 15.83, 18.1, 23.45]]], + "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": 30, + "task_plan_idx": 118, + "init_config_idx": 47, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [415.45, 92.33]], [16, "contact", null], [17, "grasped", null], [37, "success", null], [38, "lost_success", null], [60, "success", null], [76, "lost_success", null], [78, "success", null], [80, "lost_success", null], [81, "success", null], [87, "lost_success", null], [88, "success", null], [94, "lost_success", null], [95, "success", null], [96, "lost_success", null], [97, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [107, "lost_success", null], [108, "success", null], [109, "lost_success", null], [110, "success", null], [114, "lost_success", null], [120, "success", null], [139, "lost_success", null], [140, "success", null], [145, "lost_success", null], [146, "success", null], [147, "lost_success", null], [148, "success", null], [149, "lost_success", null], [150, "success", null], [159, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [163, "lost_success", null], [164, "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": 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": 31, + "task_plan_idx": 43, + "init_config_idx": 29, + "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, 10, 11], "collision", [102.5, 331.89, 177.35, 167.85, 161.67, 150.09, 188.08, 334.59]], [15, "contact", null], [15, "grasped", null], [32, "success", null], [36, "lost_success", null], [38, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [[59, 60, 61, 62, 63], "collision", [137.44, 125.0, 200.75, 109.99, 59.83]], [64, "lost_success", null], [69, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 31, + "task_plan_idx": 168, + "init_config_idx": 169, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 15, 16], "collision", [113.3, 88.45, 281.08, 93.15, 577.31]], [17, "contact", null], [18, "grasped", null], [[18], "collision", [860.49]], [45, "success", null], [46, "lost_success", null], [47, "success", null], [56, "lost_success", null], [57, "success", null], [58, "lost_success", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [68, "success", null], [69, "lost_success", null], [72, "success", null], [77, "lost_success", null], [78, "success", null], [84, "lost_success", null], [88, "success", null], [107, "lost_success", null], [108, "success", null], [110, "lost_success", null], [112, "success", null], [114, "lost_success", null], [125, "success", null], [132, "lost_success", null], [136, "success", null], [140, "lost_success", null], [142, "success", null], [147, "lost_success", null], [169, "success", null], [190, "lost_success", null], [191, "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": 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": 31, + "task_plan_idx": 109, + "init_config_idx": 31, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [225.23, 169.28]], [15, "contact", null], [15, "grasped", null], [29, "success", null], [33, "lost_success", null], [37, "success", null], [39, "lost_success", null], [49, "success", null], [59, "lost_success", null], [64, "success", null], [65, "lost_success", null], [67, "success", null], [69, "lost_success", null], [71, "success", null], [72, "lost_success", null], [75, "success", null], [76, "lost_success", null], [81, "success", null], [82, "lost_success", null], [95, "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": 31, + "task_plan_idx": 153, + "init_config_idx": 100, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [[20], "collision", [4.41]], [34, "success", null], [35, "lost_success", null], [36, "success", null], [38, "lost_success", null], [48, "success", null], [58, "lost_success", null], [60, "success", null], [71, "lost_success", null], [76, "success", null], [78, "lost_success", null], [93, "success", null], [97, "lost_success", null], [111, "success", null], [117, "lost_success", null], [155, "success", null], [156, "lost_success", null], [158, "success", null], [159, "lost_success", null], [174, "success", null], [175, "lost_success", null], [188, "success", null], [189, "lost_success", null]], + "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": 32, + "task_plan_idx": 6, + "init_config_idx": 9, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 7, 8], "collision", [1864.67, 360.03, 183.73]], [14, "contact", null], [14, "grasped", null], [36, "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": 32, + "task_plan_idx": 166, + "init_config_idx": 60, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 19], "collision", [406.79, 367.52, 432.82]], [25, "contact", null], [26, "grasped", null], [[45], "collision", [12.97]], [51, "success", null], [[54, 55], "collision", [46.63, 53.62]], [56, "lost_success", null], [[56, 57, 58], "collision", [45.32, 53.44, 53.8]]], + "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": 33, + "task_plan_idx": 131, + "init_config_idx": 147, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [29, "success", null], [32, "lost_success", null], [33, "success", null], [64, "lost_success", null], [71, "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": 33, + "task_plan_idx": 158, + "init_config_idx": 145, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12], "collision", [335.6, 234.13, 216.61, 146.36]], [16, "contact", null], [16, "grasped", null], [33, "success", null], [34, "lost_success", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [39, "lost_success", null], [40, "success", null], [76, "lost_success", null], [77, "success", null], [79, "lost_success", null], [80, "success", null], [91, "lost_success", null], [92, "success", null], [93, "lost_success", null], [94, "success", null], [116, "lost_success", null], [117, "success", null], [119, "lost_success", null], [120, "success", null], [156, "lost_success", null], [161, "success", null], [162, "lost_success", null], [169, "success", null], [170, "lost_success", null], [171, "success", null], [173, "lost_success", null], [175, "success", null], [176, "lost_success", null], [177, "success", null], [182, "lost_success", null], [183, "success", null], [186, "lost_success", null], [188, "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": 33, + "task_plan_idx": 0, + "init_config_idx": 94, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [69.79]], [19, "contact", null], [19, "grasped", null], [39, "success", null], [41, "lost_success", null], [52, "success", null], [60, "lost_success", null], [62, "success", null], [117, "lost_success", null], [119, "success", null], [139, "lost_success", null], [144, "success", null], [145, "lost_success", null], [147, "success", null], [155, "lost_success", null], [163, "success", null], [182, "lost_success", null], [184, "success", null], [185, "lost_success", null], [186, "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": 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": 34, + "task_plan_idx": 4, + "init_config_idx": 113, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 21, 22], "collision", [1989.65, 121.42, 257.3]], [23, "contact", null], [24, "grasped", null], [[40, 41, 42, 43, 44, 45, 46], "collision", [1204.73, 42.55, 7.74, 45.39, 39.84, 52.6, 29.12]], [185, "success", null], [186, "lost_success", null]], + "articulation_type": "fridge", + "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": 35, + "task_plan_idx": 66, + "init_config_idx": 81, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11, 12, 13, 14], "collision", [15.93, 148.13, 249.18, 242.65, 399.15]], [16, "contact", null], [17, "grasped", null], [43, "success", null], [113, "lost_success", null], [114, "success", null], [118, "lost_success", null], [121, "success", null], [126, "lost_success", null], [159, "success", null], [160, "lost_success", null], [165, "success", null], [179, "lost_success", null], [180, "success", null], [196, "lost_success", null], [197, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 36, + "task_plan_idx": 174, + "init_config_idx": 34, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16, 17, 18], "collision", [89.71, 95.86, 115.63, 174.07]], [21, "contact", null], [[21], "collision", [38.95]], [22, "grasped", null], [60, "success", null], [88, "lost_success", null], [89, "success", null], [96, "lost_success", null], [98, "success", null], [102, "lost_success", null], [103, "success", null], [110, "lost_success", null], [111, "success", null], [112, "lost_success", null], [113, "success", null], [136, "lost_success", null], [137, "success", null], [142, "lost_success", null], [144, "success", null], [159, "lost_success", null], [160, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 37, + "task_plan_idx": 31, + "init_config_idx": 61, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 13], "collision", [189.81, 201.56, 195.05, 164.39, 166.71]], [16, "contact", null], [16, "grasped", null], [50, "success", null], [115, "lost_success", null], [123, "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": 38, + "task_plan_idx": 106, + "init_config_idx": 117, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 14, 15], "collision", [547.05, 279.43, 555.08, 631.76]], [27, "contact", null], [27, "grasped", null], [[27], "collision", [37.95]], [101, "success", null], [102, "lost_success", null], [138, "success", null], [141, "lost_success", null], [142, "success", null], [143, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 39, + "task_plan_idx": 111, + "init_config_idx": 117, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 12], "collision", [288.81, 15.76]], [16, "contact", null], [16, "grasped", null], [[24], "collision", [29.64]], [31, "success", null], [33, "lost_success", null], [34, "success", null], [37, "lost_success", null], [[38, 39, 40], "collision", [185.31, 26.51, 15.18]], [41, "success", null], [[43, 44], "collision", [27.93, 23.07]], [45, "lost_success", null], [[45], "collision", [14.05]], [46, "success", null], [[46, 47], "collision", [15.57, 20.48]], [48, "lost_success", null], [[48], "collision", [22.0]], [49, "success", null], [[49, 50, 52, 75, 76], "collision", [10.96, 13.12, 3.48, 30.54, 17.3]], [77, "lost_success", null], [[77, 78, 79, 80, 81], "collision", [16.55, 30.58, 33.08, 36.16, 37.47]], [82, "success", null], [[82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98], "collision", [36.02, 42.7, 50.64, 46.04, 41.53, 48.04, 22.66, 34.05, 29.32, 15.5, 21.45, 19.18, 11.41, 15.9, 13.89, 12.22, 8.53]], [99, "lost_success", null], [[99, 100, 101, 102], "collision", [29.38, 19.34, 18.42, 14.67]], [103, "success", null], [[104], "collision", [11.92]], [105, "lost_success", null], [[105, 106, 107], "collision", [22.9, 10.23, 8.65]], [109, "success", null], [[110, 111, 112, 113, 114, 115, 116], "collision", [16.43, 35.67, 42.91, 19.88, 40.03, 21.17, 30.83]], [117, "lost_success", null], [[117], "collision", [35.54]], [118, "success", null], [[118], "collision", [37.49]], [119, "lost_success", null], [[119, 120, 121], "collision", [39.41, 43.65, 51.48]], [122, "success", null], [[122, 123, 124, 125, 126, 127], "collision", [33.96, 50.01, 48.78, 56.08, 41.05, 32.15]], [128, "lost_success", null], [[128], "collision", [19.25]], [129, "success", null], [[129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [35.34, 39.72, 43.24, 18.8, 23.2, 22.08, 35.76, 28.61, 21.69]], [138, "lost_success", null], [139, "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": 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": 39, + "task_plan_idx": 108, + "init_config_idx": 109, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 11, 12, 13, 14, 15], "collision", [91.43, 192.96, 270.07, 147.22, 143.69, 145.24]], [21, "contact", null], [21, "grasped", null], [[22, 41, 42, 43, 44, 45, 46], "collision", [19.82, 24.01, 64.99, 29.09, 46.74, 94.66, 48.5]], [47, "success", null], [48, "lost_success", null], [49, "success", null], [[49, 50], "collision", [45.19, 37.7]], [51, "lost_success", null], [[51, 52], "collision", [36.46, 46.42]], [58, "success", null], [60, "lost_success", null], [61, "success", null], [68, "lost_success", null], [69, "success", null], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [104, "success", null], [[116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 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, 182, 183, 184, 185, 187, 191, 192, 194, 195, 196, 197, 198, 199], "collision", [122.12, 41.59, 17.58, 26.74, 21.76, 21.63, 24.25, 17.49, 14.0, 19.36, 15.93, 39.31, 32.04, 38.48, 35.32, 48.1, 24.77, 32.19, 50.39, 60.23, 72.75, 61.28, 55.48, 38.53, 22.42, 37.32, 36.68, 48.75, 41.43, 42.0, 49.38, 62.99, 51.64, 55.11, 55.18, 54.65, 70.17, 59.07, 47.0, 38.79, 54.6, 70.76, 81.62, 78.07, 58.72, 39.1, 8.94, 19.6, 23.67, 19.87, 23.1, 20.9, 125.96, 69.35, 34.02, 29.45, 104.18, 87.53, 72.38, 74.09, 58.99]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 40, + "task_plan_idx": 20, + "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": [[[8, 10, 11], "collision", [239.07, 324.18, 207.68]], [13, "contact", null], [13, "grasped", null], [31, "success", null], [37, "lost_success", null], [39, "success", null], [55, "lost_success", null], [[55], "collision", [27.36]], [56, "success", null], [[56, 57, 58, 59, 60, 61], "collision", [95.78, 95.63, 58.04, 20.18, 9.91, 18.66]]], + "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": 40, + "task_plan_idx": 40, + "init_config_idx": 100, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 17, 20], "collision", [233.49, 14.02, 866.94]], [21, "contact", null], [21, "grasped", null], [66, "success", null], [84, "lost_success", null], [85, "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": 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": 41, + "task_plan_idx": 153, + "init_config_idx": 65, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[22], "collision", [3.53]], [42, "success", null], [[42], "collision", [48.96]], [43, "lost_success", null], [[43, 44, 45], "collision", [30.94, 37.98, 41.55]], [46, "success", null], [[46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58], "collision", [22.92, 24.91, 32.49, 42.35, 54.66, 46.35, 55.63, 23.86, 25.68, 42.14, 28.3, 33.06, 47.07]], [59, "lost_success", null], [[59], "collision", [35.29]], [60, "success", null], [[60, 61, 62, 63], "collision", [44.28, 19.24, 22.04, 19.63]], [64, "lost_success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73], "collision", [16.33, 15.02, 14.82, 15.79, 15.73, 14.12, 14.98, 14.21, 12.65, 13.93]], [74, "success", null], [[74], "collision", [14.77]], [75, "lost_success", null], [[75, 76, 77, 78, 79], "collision", [14.35, 14.04, 13.61, 15.26, 14.28]], [80, "success", null], [[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], "collision", [31.39, 31.84, 30.02, 31.31, 32.92, 31.54, 30.88, 31.04, 31.67, 32.93, 32.99, 32.35, 31.21, 39.0, 28.1, 32.4, 32.91, 33.77, 32.47, 19.77, 18.74, 18.26, 18.5, 18.69, 18.57, 34.45, 20.28, 35.47, 19.79, 26.12, 34.81, 18.99]], [112, "lost_success", null], [[112, 113, 114, 115], "collision", [35.86, 34.87, 32.98, 32.59]], [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, 145, 146, 147, 148, 149, 150], "collision", [31.81, 35.09, 32.31, 32.79, 32.66, 34.17, 32.14, 32.99, 31.78, 31.11, 33.19, 35.37, 33.94, 35.28, 34.4, 34.16, 35.27, 35.91, 34.41, 36.3, 34.13, 35.49, 35.17, 32.69, 33.52, 33.31, 35.31, 33.96, 33.25, 33.75, 32.4, 33.06, 31.8, 16.01, 27.86]], [151, "lost_success", null], [[151, 152], "collision", [30.01, 16.53]], [153, "success", null], [[153, 154, 155], "collision", [16.02, 16.19, 17.48]], [156, "lost_success", null], [[156, 157, 158], "collision", [15.35, 17.04, 22.13]], [159, "success", null], [[159, 160, 161, 162, 163, 164, 165], "collision", [39.47, 39.58, 38.77, 38.13, 37.58, 38.58, 38.75]], [166, "lost_success", null], [[166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176], "collision", [53.65, 55.25, 54.73, 48.19, 47.26, 17.58, 31.64, 32.86, 30.78, 31.17, 28.96]], [177, "success", null], [[177, 178, 179, 180, 181, 182, 183, 184, 185], "collision", [29.02, 30.95, 29.82, 30.78, 29.1, 30.86, 28.84, 30.02, 30.76]], [186, "lost_success", null], [[186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197], "collision", [22.5, 21.91, 21.29, 23.15, 21.56, 21.2, 20.67, 20.77, 20.86, 21.62, 22.87, 22.31]], [198, "success", null], [[198, 199], "collision", [20.7, 21.4]]], + "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": 42, + "task_plan_idx": 27, + "init_config_idx": 106, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16], "collision", [244.5, 219.6, 69.51, 142.3, 196.46]], [19, "contact", null], [20, "grasped", null], [[20], "collision", [1.56]], [63, "success", null], [82, "lost_success", null], [[96, 97, 99], "collision", [772.39, 291.31, 144.58]], [100, "success", null], [[105, 106, 107, 108, 109, 110, 111], "collision", [238.86, 127.31, 151.78, 141.7, 106.8, 91.16, 124.11]], [114, "lost_success", null], [115, "success", null], [[115], "collision", [436.45]], [116, "lost_success", null], [117, "success", null], [[117, 118, 119], "collision", [229.02, 111.14, 107.27]], [120, "lost_success", null], [[120], "collision", [122.77]], [121, "success", null], [[121, 122, 123, 124, 126, 129, 133], "collision", [58.45, 14.39, 21.91, 50.47, 68.43, 0.43, 1.55]], [146, "lost_success", null], [147, "success", null], [154, "lost_success", null], [155, "success", null], [160, "lost_success", null], [161, "success", null], [180, "lost_success", null], [181, "success", null], [182, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 42, + "task_plan_idx": 84, + "init_config_idx": 138, + "spawn_selection_idx": 34, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13], "collision", [1677.51, 28.81, 14.58]], [16, "contact", null], [16, "grasped", null], [34, "success", null], [60, "lost_success", null], [68, "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, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115], "collision", [51.19, 16.16, 11.74, 1.35, 5.1, 10.08, 22.26, 16.61, 28.25, 10.68, 26.98, 16.0, 20.87, 19.25, 18.78, 23.1, 21.62, 14.67, 20.0, 16.16, 16.16, 26.48, 22.95, 19.27, 18.87, 23.91, 22.6, 13.82, 17.97, 42.14, 20.39, 48.94, 43.63, 72.53, 72.49, 80.23, 70.87, 100.71, 73.4, 96.9, 98.05, 75.84, 37.02]], [116, "lost_success", null], [[116], "collision", [48.63]], [117, "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], "collision", [54.35, 52.62, 48.23, 46.87, 49.38, 33.35, 37.79, 37.34, 33.67, 38.55, 45.37, 38.73, 41.61, 26.29, 31.31, 34.22, 41.02, 37.44, 38.96, 42.06, 82.99, 48.07, 86.32, 32.76, 37.49, 51.29, 81.67, 49.74, 8.26, 65.51, 33.76, 18.91, 12.28]], [178, "lost_success", null], [181, "success", null], [182, "lost_success", null], [[184, 187, 188, 189], "collision", [51.73, 9.23, 32.15, 37.33]], [190, "success", null], [[190, 191], "collision", [36.21, 39.19]]], + "articulation_type": "fridge", + "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": 42, + "task_plan_idx": 54, + "init_config_idx": 87, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [27, "success", null], [[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", [1.49, 6.21, 7.16, 7.53, 7.42, 17.24, 17.7, 21.35, 18.34, 21.75, 19.32, 18.83, 16.55, 15.08, 18.83, 17.78, 19.35, 18.51, 21.21, 22.3, 23.89, 28.91, 28.2, 28.69, 28.16, 31.76, 30.0, 28.81, 28.02, 25.13, 23.58, 25.02, 28.74, 30.2, 29.11, 30.63, 29.92, 32.07, 35.42, 30.26, 40.25, 45.67, 47.72, 41.5, 43.63, 82.71, 77.62, 77.26, 73.72, 71.85, 70.62, 73.56, 75.05, 72.52, 72.18, 66.32, 68.26, 69.87, 70.73, 71.79, 69.54, 73.32, 73.22, 69.95, 73.32]]], + "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": 42, + "task_plan_idx": 131, + "init_config_idx": 64, + "spawn_selection_idx": 48, + "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], [52, "lost_success", null], [55, "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, 132, 133], "collision", [46.56, 51.71, 48.77, 47.82, 49.21, 49.5, 49.56, 50.23, 49.21, 49.84, 49.55, 46.05, 48.8, 48.82, 49.58, 49.46, 47.74, 50.85, 46.93, 50.33, 50.55, 45.78, 39.78, 40.21, 41.62, 38.12, 38.54, 39.39, 38.78, 39.37]], [134, "lost_success", null], [[134], "collision", [29.58]], [135, "success", null], [[135], "collision", [51.77]], [136, "lost_success", null], [137, "success", null], [[137, 139, 140, 141, 142, 144, 145, 148, 150, 151, 152, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 176, 178, 179, 181, 182, 184, 185, 186, 188, 190, 191], "collision", [51.0, 46.88, 1.49, 41.41, 46.78, 27.05, 46.5, 47.24, 49.26, 48.95, 3.93, 5.28, 45.97, 42.76, 34.78, 0.43, 48.11, 48.39, 49.28, 49.3, 45.82, 49.06, 29.51, 55.37, 72.67, 46.36, 38.84, 52.32, 44.86, 50.0, 24.51, 47.64, 50.61, 50.36, 47.9, 36.41, 40.04, 49.01, 7.92, 131.95, 51.51, 94.59, 40.41]], [192, "lost_success", null], [193, "success", null], [[194, 195, 196, 197, 198, 199], "collision", [37.57, 43.27, 49.93, 51.58, 49.24, 36.76]]], + "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": 43, + "task_plan_idx": 97, + "init_config_idx": 85, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6], "collision", [0.18]], [10, "contact", null], [[10], "collision", [7.9]], [11, "grasped", null], [[11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21], "collision", [24.79, 32.71, 24.82, 22.79, 22.44, 62.98, 48.93, 58.72, 63.28, 65.33, 44.61]], [22, "success", null], [[22], "collision", [51.81]], [23, "lost_success", null], [[23, 24, 25, 26, 27, 28], "collision", [59.15, 47.16, 66.58, 51.07, 65.53, 45.46]], [29, "success", null], [[29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47], "collision", [45.52, 44.39, 37.05, 31.24, 17.19, 23.1, 23.68, 19.67, 21.71, 25.97, 25.24, 22.45, 20.2, 19.54, 16.86, 11.87, 12.21, 11.65, 12.18]], [48, "lost_success", null], [[48, 49, 50], "collision", [13.67, 13.36, 13.73]], [51, "success", null], [[51, 52], "collision", [13.7, 13.71]], [53, "lost_success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64], "collision", [13.53, 13.15, 13.33, 13.54, 13.31, 13.72, 14.03, 13.93, 14.29, 14.41, 14.41, 14.24]], [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, 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, 194, 195, 196, 197, 198, 199], "collision", [14.48, 14.16, 13.97, 14.04, 13.85, 13.97, 14.21, 14.45, 14.44, 14.07, 14.27, 14.45, 14.55, 14.48, 14.83, 14.5, 15.08, 14.85, 15.81, 15.14, 15.27, 15.48, 15.18, 15.1, 15.4, 15.42, 15.26, 15.02, 15.29, 15.46, 14.81, 15.2, 15.04, 14.72, 14.66, 14.82, 14.55, 14.96, 14.77, 14.53, 15.29, 15.35, 15.11, 15.12, 15.27, 15.02, 14.62, 14.64, 15.27, 15.79, 15.62, 15.94, 15.21, 14.62, 14.68, 15.4, 15.13, 15.28, 15.77, 15.56, 15.35, 15.36, 14.47, 14.91, 14.59, 14.32, 14.75, 14.28, 14.11, 14.39, 13.76, 13.46, 13.73, 13.93, 15.01, 15.27, 15.05, 14.91, 15.16, 14.87, 15.08, 15.45, 15.34, 15.34, 15.73, 15.95, 15.1, 15.65, 15.71, 16.02, 15.63, 15.72, 15.72, 15.76, 15.8, 15.62, 15.74, 15.71, 16.02, 16.43, 16.79, 16.36, 16.05, 15.99, 16.28, 15.99, 16.48, 15.95, 15.57, 15.52, 15.12, 15.03, 15.21, 15.13, 15.37, 15.87, 15.65, 15.37, 14.91, 15.19, 15.94, 15.62, 15.78, 14.63, 14.77, 15.18, 15.22, 15.25, 15.34, 15.43, 15.55, 15.89, 16.0, 15.28, 15.43]]], + "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": 43, + "task_plan_idx": 61, + "init_config_idx": 78, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 5, 6, 10], "collision", [187.8, 104.16, 26.45, 136.2]], [19, "contact", null], [[19], "collision", [3607.11]], [20, "grasped", null], [35, "success", null], [51, "lost_success", null], [53, "success", null], [62, "lost_success", null], [63, "success", null], [88, "lost_success", null], [91, "success", null], [121, "lost_success", null], [122, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 44, + "task_plan_idx": 34, + "init_config_idx": 135, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 19], "collision", [133.39, 313.09, 267.13]], [22, "contact", null], [22, "grasped", null], [41, "success", null], [45, "lost_success", null], [58, "success", null], [[61, 62, 65, 66, 67, 68, 69, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89], "collision", [92.85, 143.13, 9.53, 32.38, 42.08, 43.48, 90.67, 23.51, 48.92, 59.52, 49.41, 32.17, 32.3, 32.05, 14.78, 9.1, 9.12, 16.34, 22.43, 22.72, 15.74, 5.84, 13.87, 22.86, 18.28, 10.76]], [90, "lost_success", null], [[90, 91], "collision", [13.13, 36.15]], [92, "success", null], [[92, 93, 94, 95, 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], "collision", [40.8, 47.3, 42.44, 39.33, 17.34, 34.47, 37.02, 29.28, 28.91, 16.9, 25.05, 22.31, 21.3, 20.61, 21.74, 18.6, 5.66, 12.92, 23.15, 23.78, 25.2, 14.64, 13.88, 7.91, 15.73, 23.54, 9.35, 14.97, 11.55]], [124, "lost_success", null], [134, "success", null], [[148, 149, 150, 151, 152, 153, 154, 155], "collision", [9.21, 10.98, 8.16, 12.9, 9.2, 8.58, 12.27, 3.11]], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null], [170, "success", null], [177, "lost_success", null], [179, "success", null], [180, "lost_success", null], [189, "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": 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": 44, + "task_plan_idx": 11, + "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": [[[12, 14], "collision", [192.29, 83.83]], [18, "contact", null], [18, "grasped", null], [47, "success", null], [56, "lost_success", null], [58, "success", null], [59, "lost_success", null], [66, "success", null], [81, "lost_success", null], [82, "success", null], [87, "lost_success", null], [89, "success", null], [141, "lost_success", null], [145, "success", null], [185, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 44, + "task_plan_idx": 73, + "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": [[[9, 11, 12], "collision", [568.96, 235.68, 9.96]], [16, "contact", null], [16, "grasped", null], [[16, 17, 18, 19], "collision", [0.31, 0.17, 0.26, 0.27]], [36, "success", null], [37, "lost_success", null], [38, "success", null], [41, "lost_success", null], [46, "success", null], [52, "lost_success", null], [53, "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", [47.37, 76.03, 69.08, 114.56, 79.87, 106.19, 93.12, 82.43, 81.34, 89.71, 104.69, 61.11, 79.55, 106.34, 70.97, 68.59, 31.6, 43.22, 39.22, 55.97, 27.39, 4.18]], [118, "lost_success", null], [[118], "collision", [44.27]], [119, "success", null], [[119, 122, 124, 128, 129, 130, 131, 132, 135, 136, 140, 141, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155], "collision", [18.23, 2.7, 10.36, 9.24, 9.96, 9.47, 13.3, 11.86, 0.42, 4.61, 57.83, 0.9, 4.33, 6.57, 32.63, 25.73, 16.93, 30.37, 14.17, 8.08, 8.14, 8.34, 3.55]], [160, "lost_success", null], [[160], "collision", [65.62]], [161, "success", null], [[161], "collision", [12.61]], [162, "lost_success", null], [[162, 163], "collision", [8.18, 7.13]], [164, "success", null], [[164, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178], "collision", [1.66, 53.97, 23.11, 24.15, 24.98, 48.62, 65.36, 73.26, 65.58, 71.66, 81.74, 83.19, 84.7]], [179, "lost_success", null], [[179, 180], "collision", [93.08, 92.8]], [181, "success", null], [[181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194], "collision", [67.34, 62.34, 62.21, 68.16, 66.15, 64.29, 57.6, 61.84, 57.76, 58.38, 64.8, 68.59, 70.23, 73.64]], [195, "lost_success", null], [[195], "collision", [80.19]], [196, "success", null], [[196, 197], "collision", [62.1, 80.28]], [198, "lost_success", null], [[198], "collision", [67.04]], [199, "success", null], [[199], "collision", [61.96]]], + "articulation_type": "fridge", + "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": 45, + "task_plan_idx": 97, + "init_config_idx": 121, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11], "collision", [1102.91, 258.82, 449.76, 481.85]], [22, "contact", null], [22, "grasped", null], [[22, 24], "collision", [856.29, 1.4]], [44, "success", null], [46, "lost_success", null], [48, "success", null], [[49], "collision", [1.54]], [50, "lost_success", null], [[50], "collision", [7.93]], [52, "success", null], [54, "lost_success", null], [55, "success", null], [57, "lost_success", null], [59, "success", null], [81, "lost_success", null], [84, "success", null], [85, "lost_success", null], [101, "success", null], [132, "lost_success", null], [133, "success", null], [134, "lost_success", null], [137, "success", null], [139, "lost_success", null], [140, "success", null], [149, "lost_success", null], [150, "success", null], [172, "lost_success", null], [174, "success", null], [179, "lost_success", null], [180, "success", null], [187, "lost_success", null], [189, "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": 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": 45, + "task_plan_idx": 131, + "init_config_idx": 126, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 17, 21, 23], "collision", [511.86, 60.12, 108.77, 1784.25]], [26, "contact", null], [[26], "collision", [80.46]], [27, "grasped", null], [[27], "collision", [217.05]], [55, "success", null], [82, "lost_success", null], [105, "success", null], [109, "lost_success", null], [117, "success", null], [124, "lost_success", null], [127, "success", null], [128, "lost_success", null], [136, "success", null], [143, "lost_success", null], [147, "success", null], [148, "lost_success", null], [150, "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": 45, + "task_plan_idx": 138, + "init_config_idx": 135, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 20], "collision", [632.78, 0.75]], [25, "contact", null], [[26], "collision", [81.55]], [27, "grasped", null], [[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], "collision", [61.77, 65.29, 63.49, 37.2, 28.55, 29.15, 27.89, 18.4, 18.01, 22.45, 18.41, 19.5, 25.72, 42.88, 14.32, 15.45, 17.5, 16.48, 17.64, 17.7, 17.02, 16.55, 16.38, 17.9, 18.11, 17.75, 15.23, 17.84, 15.76, 14.83, 16.08, 16.81, 18.61, 19.27, 15.29, 15.47]], [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], "collision", [16.8, 17.61, 16.26, 15.87, 16.11, 17.89, 16.77, 17.97, 17.21, 14.58, 16.06, 15.29, 16.39, 14.5, 16.79, 15.55, 16.03, 15.37, 15.94, 16.27, 16.94, 15.6, 16.5, 15.84]], [87, "lost_success", null], [[87], "collision", [16.22]], [88, "success", null], [[88], "collision", [15.84]], [89, "lost_success", null], [[89, 90, 91, 92, 93, 94], "collision", [15.15, 15.97, 14.45, 15.11, 15.63, 15.61]], [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], "collision", [16.89, 16.28, 16.17, 15.75, 16.03, 15.4, 16.55, 15.52, 15.13, 16.18, 15.83, 15.9, 14.8, 16.99, 15.94, 14.93, 15.99, 16.73, 15.12, 17.16, 15.85, 15.54, 15.78, 15.44, 15.0, 15.9, 16.22, 15.65, 17.1, 16.07, 15.84, 16.59]], [127, "lost_success", null], [[127, 128, 129, 130, 131], "collision", [14.66, 16.05, 15.56, 15.62, 14.85]], [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], "collision", [16.9, 16.09, 14.68, 16.31, 15.7, 15.41, 17.83, 14.56, 16.28, 16.02, 16.38, 15.02, 16.98, 17.88, 17.7, 15.69, 16.34, 16.88, 17.29, 16.52, 15.79, 15.71, 15.13, 15.44, 17.78, 16.68, 16.54, 16.35, 16.25]], [161, "lost_success", null], [[161, 162, 163, 164], "collision", [16.72, 15.75, 17.56, 14.85]], [165, "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", [16.45, 15.35, 15.08, 16.38, 15.87, 15.99, 16.23, 17.02, 17.08, 16.01, 16.25, 15.42, 14.99, 15.43, 16.62, 15.51, 17.5, 14.63, 16.98, 15.98, 16.37, 15.59, 16.62, 14.39, 15.82, 16.71, 15.49, 15.43, 16.62, 15.45, 15.98, 16.58, 16.01, 16.2, 17.16]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 46, + "task_plan_idx": 54, + "init_config_idx": 82, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 14], "collision", [20.36, 381.01, 461.81, 153.52, 474.26]], [19, "contact", null], [19, "grasped", null], [[19, 22, 27], "collision", [434.26, 265.95, 487.72]], [52, "success", null], [59, "lost_success", null], [60, "success", null], [87, "lost_success", null], [92, "success", null], [93, "lost_success", null], [95, "success", null], [122, "lost_success", null], [126, "success", null], [149, "lost_success", null], [150, "success", null], [151, "lost_success", null], [152, "success", null], [153, "lost_success", null], [154, "success", null], [158, "lost_success", null], [159, "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": 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": 46, + "task_plan_idx": 97, + "init_config_idx": 111, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 27, 28, 29], "collision", [390.41, 246.28, 102.16, 171.16]], [33, "contact", null], [34, "grasped", null], [55, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [60, "success", null], [73, "lost_success", null], [74, "success", null], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [83, "success", null], [101, "lost_success", null], [106, "success", null], [150, "lost_success", null], [151, "success", null], [166, "lost_success", null], [170, "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": 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": 46, + "task_plan_idx": 162, + "init_config_idx": 40, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16], "collision", [251.33, 25.58]], [17, "contact", null], [[17], "collision", [430.71]], [18, "grasped", null], [47, "success", null], [51, "lost_success", null], [56, "success", null], [92, "lost_success", null], [106, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 47, + "task_plan_idx": 47, + "init_config_idx": 46, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 11, 12, 13, 14, 31], "collision", [128.23, 212.83, 202.4, 184.63, 136.07, 130.8]], [32, "contact", null], [[32], "collision", [2.17]], [33, "grasped", null], [[34, 41, 42, 43, 44, 45], "collision", [0.58, 516.3, 102.06, 107.53, 80.35, 18.4]], [54, "success", null], [56, "lost_success", null], [93, "success", null], [103, "lost_success", null], [151, "success", null], [153, "lost_success", null], [171, "success", null], [186, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 47, + "task_plan_idx": 155, + "init_config_idx": 142, + "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], [18, "grasped", null], [35, "success", null], [81, "lost_success", null], [92, "success", null], [106, "lost_success", null], [111, "success", null], [112, "lost_success", null], [114, "success", null], [136, "lost_success", null], [141, "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": 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": 48, + "task_plan_idx": 66, + "init_config_idx": 78, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 18], "collision", [142.55, 158.1, 250.69, 547.46]], [21, "contact", null], [21, "grasped", null], [41, "success", null], [85, "lost_success", null], [86, "success", null], [110, "lost_success", null], [111, "success", null], [[115, 118, 120, 121], "collision", [259.04, 443.45, 43.33, 68.25]], [151, "lost_success", null], [153, "success", null], [164, "lost_success", null], [173, "success", null], [174, "lost_success", null], [177, "success", null], [180, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "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": 48, + "task_plan_idx": 38, + "init_config_idx": 82, + "spawn_selection_idx": 62, + "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, 35], "collision", [12.2, 26.73, 34.59, 35.26, 34.26, 36.19, 87.69, 34.78, 5.19]], [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, 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], "collision", [0.43, 0.86, 1.7, 1.58, 1.03, 1.31, 2.15, 1.31, 6.38, 5.17, 6.87, 10.03, 12.26, 15.95, 12.5, 12.11, 13.7, 15.33, 20.05, 24.12, 18.86, 17.52, 14.15, 12.03, 6.27, 5.15, 4.86, 5.0, 3.12, 2.9, 4.11, 2.87, 3.11, 2.63, 3.13, 3.65, 3.24, 3.23, 2.94, 2.9, 2.72, 2.88, 2.78, 2.57, 2.09, 2.85, 2.42, 2.43, 3.09, 2.46, 2.11, 2.64, 2.82, 2.12, 2.53, 6.32, 6.94, 9.6, 11.03, 14.89, 19.42, 21.54, 23.24, 21.45, 26.04, 31.64, 30.0, 31.07, 21.6, 15.93, 15.84, 17.38, 17.18, 15.97, 17.1, 16.38, 16.53, 16.32, 16.27, 16.28, 15.77, 14.71]], [118, "lost_success", null], [[118], "collision", [15.35]], [119, "success", null], [[119, 120], "collision", [14.89, 15.27]], [121, "lost_success", null], [[121], "collision", [15.43]], [122, "success", null], [[122, 123], "collision", [15.03, 15.45]], [124, "lost_success", null], [[124, 125], "collision", [15.32, 14.8]], [126, "success", null], [[126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143], "collision", [15.64, 24.02, 34.97, 38.12, 40.92, 43.43, 43.12, 40.99, 37.06, 36.49, 31.03, 32.33, 36.59, 38.05, 34.65, 19.09, 34.55, 25.43]], [144, "lost_success", null], [[144, 145], "collision", [22.11, 11.19]], [146, "success", null], [[146, 147, 148, 149], "collision", [10.6, 11.07, 10.47, 11.23]], [150, "lost_success", null], [[150], "collision", [10.74]], [151, "success", null], [[151], "collision", [10.6]], [152, "lost_success", null], [[152], "collision", [11.34]], [153, "success", null], [[153], "collision", [10.1]], [154, "lost_success", null], [[154, 155, 156, 157], "collision", [10.9, 10.91, 9.86, 10.88]], [158, "success", null], [[158, 159], "collision", [10.38, 11.14]], [160, "lost_success", null], [[160, 161, 162, 163], "collision", [11.14, 11.28, 10.51, 10.11]], [164, "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, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [10.52, 10.69, 10.56, 10.93, 10.55, 10.3, 9.86, 10.5, 10.81, 10.64, 10.99, 10.69, 10.11, 10.64, 11.19, 10.8, 11.23, 10.67, 10.61, 10.57, 10.59, 10.51, 11.27, 11.11, 11.44, 11.07, 10.86, 11.47, 11.36, 11.76, 11.48, 11.49, 11.28, 12.02, 11.57, 11.54]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 48, + "task_plan_idx": 92, + "init_config_idx": 54, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [197.11]], [14, "contact", null], [14, "grasped", null], [[20, 21, 22, 23], "collision", [19.14, 32.47, 51.54, 59.03]], [24, "success", null], [[24], "collision", [54.66]], [25, "lost_success", null], [[25], "collision", [22.21]], [26, "success", null], [[26, 27], "collision", [11.24, 12.52]], [28, "lost_success", null], [[28], "collision", [6.41]], [29, "success", null], [[29], "collision", [5.07]], [30, "lost_success", null], [[30, 31, 32, 33, 34, 35], "collision", [5.7, 4.93, 5.68, 5.1, 5.77, 5.78]], [36, "success", null], [[36], "collision", [1.61]], [38, "lost_success", null], [39, "success", null], [58, "lost_success", null], [[67, 68, 69, 70, 71, 72], "collision", [0.43, 0.46, 0.49, 0.61, 0.91, 1.0]], [73, "success", null], [[73, 74, 75, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 113, 114, 115, 116, 117, 118, 119], "collision", [0.35, 0.28, 0.63, 0.72, 0.06, 18.06, 6.74, 6.67, 9.08, 21.49, 20.19, 31.77, 20.58, 0.87, 2.49, 3.59, 2.46, 0.22, 1.07, 0.77, 0.75, 0.8, 0.62, 2.38, 1.84, 1.21, 11.79, 20.5, 10.06, 18.37, 27.32, 44.43, 55.6]], [120, "lost_success", null], [[120, 121], "collision", [44.08, 47.68]], [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, 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], "collision", [42.0, 43.91, 35.87, 36.37, 36.37, 36.82, 37.59, 35.26, 33.49, 30.78, 33.68, 34.25, 37.66, 38.99, 42.57, 31.69, 25.03, 24.4, 21.54, 21.29, 23.11, 20.18, 12.17, 8.31, 9.46, 11.93, 11.01, 11.85, 12.43, 12.05, 11.77, 12.48, 12.77, 12.75, 12.23, 15.39, 15.35, 12.16, 14.31, 13.16, 16.47, 14.67, 15.65, 14.1, 12.95, 11.81, 13.18, 11.5, 12.37, 12.24, 12.83, 13.07, 12.11, 13.06, 13.23, 12.86, 13.37, 13.36, 13.3, 12.96, 13.66, 13.33, 13.5, 13.31, 12.66, 13.88, 12.72]], [189, "lost_success", null], [[189, 190], "collision", [12.98, 12.8]], [191, "success", null], [[191, 192, 193, 194, 195, 196], "collision", [12.56, 13.53, 12.11, 12.14, 13.05, 12.51]], [197, "lost_success", null], [[197], "collision", [11.21]], [198, "success", null], [[198, 199], "collision", [10.35, 13.38]]], + "articulation_type": "fridge", + "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": 50, + "task_plan_idx": 146, + "init_config_idx": 94, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [387.41, 256.54, 187.55, 48.7]], [10, "contact", null], [11, "grasped", null], [30, "success", null], [42, "lost_success", null], [45, "success", null], [47, "lost_success", null], [52, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 62, + "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": [[14, "contact", null], [14, "grasped", null], [[19, 31], "collision", [0.14, 26.32]], [32, "success", null], [[32, 33], "collision", [42.9, 51.26]], [34, "lost_success", null], [[34], "collision", [51.28]], [35, "success", null], [[35], "collision", [51.24]], [36, "lost_success", null], [[36, 37, 38], "collision", [34.56, 39.68, 25.31]], [39, "success", null], [[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, 81, 82, 83], "collision", [16.06, 4.89, 4.27, 0.43, 0.34, 0.34, 0.32, 1.7, 4.16, 5.99, 4.36, 6.58, 5.87, 5.39, 6.73, 4.64, 8.51, 5.88, 1.41, 4.62, 4.92, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.68, 0.35, 0.35, 0.35, 0.35, 0.35, 0.34, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]], [84, "lost_success", null], [[84], "collision", [0.35]], [85, "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, 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", [0.35, 0.35, 0.35, 0.36, 0.35, 0.36, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.34, 0.36, 0.35, 0.35, 14.54, 13.2, 19.84, 36.24, 30.04, 26.34, 26.72, 27.85, 19.22, 20.83, 25.5, 15.28, 13.88, 34.32, 23.49, 23.96, 26.89, 12.93, 15.0, 14.36, 9.25, 7.59, 7.75, 6.5, 5.54, 6.23, 6.53, 5.21, 6.81, 7.45, 9.93, 10.73, 13.97, 15.49, 16.21, 11.9, 11.8, 12.1, 12.54, 11.16, 12.25, 12.4, 10.18, 9.51, 11.34, 10.8, 11.09, 10.44, 10.54, 12.19, 12.9, 12.11, 9.9, 10.94, 11.8, 10.52, 9.45, 10.26, 10.18, 10.15, 9.79, 9.87, 10.74, 9.34, 10.9, 9.97, 8.91, 9.57, 10.39, 10.22, 10.35, 10.3, 9.61, 11.19, 9.64, 8.59, 11.5, 11.39, 10.31, 10.81, 9.98, 10.72, 10.51, 11.3, 10.99, 10.25, 12.29, 7.68, 9.03, 10.08, 9.93, 9.59, 10.38, 8.97, 9.43, 11.18]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 51, + "task_plan_idx": 106, + "init_config_idx": 45, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[26, "contact", null], [26, "grasped", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [29.81, 43.14, 33.84, 56.39, 59.43, 83.11, 70.13, 87.07, 67.03, 975.6, 132.83, 74.84, 75.37, 180.9]], [52, "success", null], [[52, 53, 54, 55, 56], "collision", [160.18, 113.58, 88.83, 111.51, 94.12]], [57, "lost_success", null], [[57, 63, 64, 67, 73, 74, 75], "collision", [24.42, 56.58, 45.6, 43.18, 39.32, 38.84, 33.82]], [140, "success", null], [141, "lost_success", null], [145, "success", null], [147, "lost_success", null], [149, "success", null], [151, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [163, "lost_success", null], [176, "success", null], [189, "lost_success", null], [190, "success", null], [192, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 51, + "task_plan_idx": 119, + "init_config_idx": 90, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 17], "collision", [13.33, 141.22]], [21, "contact", null], [21, "grasped", null], [50, "success", null], [51, "lost_success", null], [[60, 64, 67], "collision", [43.68, 38.96, 19.13]], [74, "success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 95, 96, 97, 100], "collision", [21.08, 36.09, 37.93, 54.18, 48.49, 50.94, 62.77, 52.77, 70.63, 54.52, 54.43, 60.81, 51.82, 33.62, 30.53, 44.58, 34.25, 19.12, 124.24]], [104, "lost_success", null], [105, "success", null], [121, "lost_success", null], [126, "success", null], [182, "lost_success", null], [199, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 52, + "task_plan_idx": 97, + "init_config_idx": 77, + "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], [[13, 22, 23, 24], "collision", [29.67, 58.68, 74.46, 64.77]], [25, "success", null], [[25], "collision", [41.01]], [26, "lost_success", null], [[26], "collision", [7.46]], [27, "success", null], [[27, 28, 29, 30], "collision", [7.15, 7.21, 7.37, 4.61]], [31, "lost_success", null], [[31], "collision", [4.12]], [32, "success", null], [[32], "collision", [5.3]], [33, "lost_success", null], [[33], "collision", [6.55]], [34, "success", null], [[34, 35, 36, 37, 38, 39, 40, 41, 42, 47, 48, 49, 50], "collision", [7.09, 5.7, 5.54, 6.65, 6.09, 6.27, 6.01, 6.83, 6.27, 10.52, 35.78, 36.21, 22.95]], [51, "lost_success", null], [[51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63], "collision", [16.74, 16.25, 12.1, 12.01, 11.32, 11.24, 10.42, 10.89, 11.53, 11.06, 11.45, 10.45, 10.38]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73], "collision", [10.65, 11.13, 10.97, 10.47, 11.14, 11.02, 10.2, 11.17, 11.24, 10.25]], [74, "lost_success", null], [[74], "collision", [28.11]], [75, "success", null], [[75, 76, 77, 78, 79, 80, 81], "collision", [24.13, 21.43, 23.32, 21.91, 23.0, 21.48, 22.3]], [82, "lost_success", null], [[82], "collision", [22.24]], [83, "success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [20.98, 21.8, 21.36, 22.27, 22.73, 22.08, 23.02, 23.15, 21.73, 21.25, 21.5, 20.63]], [95, "lost_success", null], [[95, 96], "collision", [25.03, 12.87]], [97, "success", null], [[97, 98], "collision", [18.66, 17.03]], [99, "lost_success", null], [[99], "collision", [15.83]], [100, "success", null], [[100], "collision", [15.73]], [101, "lost_success", null], [[101], "collision", [5.68]], [102, "success", null], [[102, 103], "collision", [15.75, 16.73]], [104, "lost_success", null], [[104, 105], "collision", [19.26, 17.76]], [106, "success", null], [[106, 107, 108, 109], "collision", [17.37, 18.13, 12.64, 1.43]], [127, "lost_success", null], [[127, 128, 129, 130, 131, 132], "collision", [7.99, 27.73, 47.72, 37.12, 36.15, 33.03]], [134, "success", null], [[137, 138, 140], "collision", [21.58, 17.77, 4.14]], [149, "lost_success", null], [150, "success", null], [151, "lost_success", null], [152, "success", null], [190, "lost_success", null], [192, "success", null], [[195, 196], "collision", [9.24, 0.13]], [197, "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": 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": 53, + "task_plan_idx": 33, + "init_config_idx": 64, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 22], "collision", [1988.25, 188.49, 257.97]], [23, "contact", null], [23, "grasped", null], [[23, 24, 25, 26, 27, 28, 29, 30, 31, 33, 35, 36, 37, 38, 39, 40, 41, 42, 44], "collision", [33.67, 39.87, 18.95, 19.06, 20.55, 20.98, 17.32, 4.43, 4.16, 0.64, 0.69, 1.06, 1.32, 1.17, 0.74, 0.45, 0.35, 0.18, 0.18]], [51, "success", null], [52, "lost_success", null], [53, "success", null], [[61, 64], "collision", [0.11, 0.08]], [66, "lost_success", null], [68, "success", null], [70, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [83, "lost_success", null], [[84], "collision", [0.01]], [91, "success", null], [[119, 121], "collision", [0.06, 0.03]]], + "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": 54, + "task_plan_idx": 24, + "init_config_idx": 68, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6, 7, 10, 12], "collision", [298.21, 550.34, 501.8, 483.5, 504.75, 407.25, 479.97]], [14, "contact", null], [14, "grasped", null], [37, "success", null], [116, "lost_success", null], [117, "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": 54, + "task_plan_idx": 89, + "init_config_idx": 62, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [17, "grasped", null], [46, "success", null], [59, "lost_success", null], [60, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 54, + "task_plan_idx": 112, + "init_config_idx": 35, + "spawn_selection_idx": 50, + "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], [[59, 61, 62, 63, 64, 66, 67, 68, 81, 82, 83, 84, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 100, 101, 102, 103, 104, 105, 106, 107, 114, 115, 116, 117, 118, 135, 143, 144, 145], "collision", [2.88, 90.79, 81.31, 24.03, 60.62, 18.86, 21.08, 12.12, 12.6, 38.8, 52.53, 90.6, 80.21, 55.09, 56.73, 61.48, 25.92, 62.46, 76.21, 38.75, 68.44, 37.15, 46.49, 40.39, 64.48, 49.86, 29.3, 15.87, 34.45, 31.16, 20.0, 14.81, 20.16, 34.06, 34.51, 26.36, 6.67, 85.41, 100.97, 51.94, 66.36]], [151, "lost_success", null], [152, "success", null]], + "articulation_type": "fridge", + "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": 55, + "task_plan_idx": 73, + "init_config_idx": 129, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [36, "success", null], [[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, 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], "collision", [85.69, 5.87, 3.89, 4.91, 3.77, 3.73, 4.36, 3.92, 3.9, 3.81, 4.09, 2.94, 3.89, 2.18, 3.94, 3.95, 3.95, 3.95, 3.95, 3.94, 3.94, 3.94, 3.95, 3.95, 3.95, 3.95, 3.95, 3.94, 3.94, 3.95, 3.95, 3.94, 3.95, 3.95, 3.95, 3.95, 3.95, 3.95, 3.95, 3.95, 3.94, 3.95, 3.95, 3.94, 3.95, 3.95, 3.95, 3.94, 3.94, 3.94, 3.94, 3.95, 3.95, 3.94, 3.95, 3.95, 3.96, 3.95, 3.94, 3.95, 3.94, 3.94, 3.95, 3.95, 3.95, 3.95, 3.95, 3.95, 3.94, 3.94, 3.94, 3.94, 3.95, 3.95, 3.95, 3.94, 3.96, 3.95, 3.95, 3.95, 3.94, 3.95, 3.94, 3.95, 3.94, 3.95, 3.95, 3.95, 3.95, 3.95, 3.94, 3.94, 3.95, 3.94, 3.95, 3.94, 3.95, 3.94, 3.94, 3.95, 3.93, 3.95, 3.95, 3.93, 3.95, 3.94, 3.95, 3.95, 3.95, 3.94, 3.96, 3.95, 3.95, 3.95, 3.95, 3.94, 3.94, 3.94, 3.94, 3.94, 3.94, 3.95, 3.95, 3.94, 3.95, 3.95, 3.94, 3.95]], [172, "lost_success", null], [[172], "collision", [3.95]], [173, "success", null], [[173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186], "collision", [3.94, 3.95, 3.95, 3.94, 3.95, 3.94, 3.95, 3.95, 3.95, 3.95, 3.94, 3.95, 3.95, 3.94]], [187, "lost_success", null], [[187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.94, 3.95, 3.95, 3.95, 3.95, 3.95, 3.95, 3.96, 3.94, 3.95, 3.95, 3.95, 3.95]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 55, + "task_plan_idx": 98, + "init_config_idx": 144, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [[15, 16], "collision", [102.87, 55.57]], [27, "success", null], [28, "lost_success", null], [32, "success", null], [37, "lost_success", null], [39, "success", null], [46, "lost_success", null], [47, "success", null], [58, "lost_success", null], [78, "success", null], [80, "lost_success", null], [81, "success", null], [97, "lost_success", null], [99, "success", null], [100, "lost_success", null], [101, "success", null], [105, "lost_success", null], [108, "success", null], [114, "lost_success", null], [118, "success", null], [122, "lost_success", null], [123, "success", null], [133, "lost_success", null], [134, "success", null], [154, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "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": 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": 55, + "task_plan_idx": 78, + "init_config_idx": 33, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [[33, 34, 35, 36, 37, 38], "collision", [33.91, 46.63, 48.61, 72.78, 56.22, 75.95]], [39, "success", null], [[39, 40], "collision", [50.74, 48.67]], [41, "lost_success", null], [[41, 42, 43], "collision", [45.42, 29.53, 18.81]], [44, "success", null], [[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, 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, 184, 187, 188, 189, 190, 191, 192, 193, 194, 195, 197, 198, 199], "collision", [23.78, 30.05, 53.53, 45.64, 59.36, 21.47, 33.55, 39.63, 39.51, 30.35, 23.21, 17.53, 4.8, 7.89, 6.28, 6.81, 6.4, 5.21, 5.9, 5.19, 5.47, 4.68, 5.18, 4.9, 5.27, 6.4, 6.38, 5.82, 6.91, 7.11, 5.38, 4.98, 6.74, 6.27, 10.67, 12.57, 16.41, 20.3, 23.43, 31.57, 32.08, 32.7, 31.79, 36.4, 34.08, 34.26, 42.11, 44.59, 45.8, 50.58, 54.49, 22.44, 22.65, 22.97, 23.4, 25.22, 25.22, 26.88, 28.62, 31.63, 31.43, 33.65, 30.38, 24.74, 25.47, 26.06, 26.96, 23.69, 26.72, 24.37, 24.57, 24.32, 20.25, 20.53, 22.32, 24.67, 24.87, 30.16, 23.79, 17.29, 7.4, 4.16, 5.92, 6.64, 6.97, 6.93, 6.83, 6.59, 5.99, 7.82, 9.08, 9.85, 9.64, 10.7, 7.97, 8.53, 7.77, 9.33, 9.6, 7.17, 7.0, 7.88, 7.26, 7.96, 7.63, 8.02, 7.33, 9.51, 11.72, 13.35, 15.66, 27.06, 31.06, 42.91, 47.6, 51.16, 55.15, 50.36, 47.89, 49.2, 43.79, 46.34, 11.43, 12.68, 12.38, 12.4, 14.35, 11.06, 15.22, 15.47, 19.03, 22.07, 24.77, 6.99, 18.17, 24.43, 26.94, 25.58, 12.86, 12.83, 7.07]]], + "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": 57, + "task_plan_idx": 11, + "init_config_idx": 51, + "spawn_selection_idx": 22, + "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, 40], "collision", [16.73, 24.45]], [41, "success", null], [[41, 42, 43], "collision", [24.84, 28.98, 33.83]], [44, "lost_success", null], [[44, 45], "collision", [50.07, 61.41]], [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, 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], "collision", [33.82, 40.06, 22.86, 36.66, 32.09, 24.18, 29.76, 28.7, 28.12, 29.62, 23.99, 26.65, 27.05, 29.19, 26.81, 21.76, 21.58, 19.96, 19.0, 19.31, 18.91, 17.52, 18.47, 23.05, 24.13, 28.54, 29.19, 32.89, 29.13, 33.02, 34.89, 39.58, 45.97, 51.91, 47.35, 27.21, 26.98, 30.86, 38.95, 37.17, 27.81, 18.22, 12.74, 11.2, 8.96, 6.96, 6.3, 5.44, 2.67, 1.52, 1.43, 1.79, 0.8, 1.34, 0.55, 0.87, 0.66, 1.37, 0.52, 1.11, 1.35, 0.6, 2.48, 2.12, 1.14, 2.07, 1.02, 0.57, 1.04, 1.47, 1.13, 16.02, 17.05]], [119, "lost_success", null], [[119], "collision", [17.85]], [120, "success", null], [[120, 121, 122, 123, 124], "collision", [16.81, 16.91, 16.93, 16.85, 17.25]], [125, "lost_success", null], [[125], "collision", [18.17]], [126, "success", null], [[126, 127, 128, 129, 130], "collision", [17.66, 18.43, 17.24, 17.08, 16.76]], [131, "lost_success", null], [[131, 132], "collision", [16.07, 15.76]], [133, "success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 141, 142], "collision", [16.97, 15.7, 16.66, 15.86, 16.59, 16.07, 16.94, 16.53, 16.27, 16.23]], [143, "lost_success", null], [[143], "collision", [16.81]], [144, "success", null], [[144], "collision", [18.49]], [145, "lost_success", null], [[145, 146, 147], "collision", [17.73, 18.73, 18.96]], [148, "success", null], [[148, 149], "collision", [18.15, 18.4]], [150, "lost_success", null], [[150, 151, 152, 153], "collision", [18.44, 18.67, 18.19, 17.1]], [154, "success", null], [[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", [18.82, 18.38, 19.5, 19.38, 18.73, 19.66, 18.21, 19.63, 23.72, 24.18, 23.47, 24.59, 23.82, 24.87, 23.22, 18.7, 20.46, 23.87, 24.68, 24.81, 25.59, 24.84, 24.98, 24.88, 22.63, 23.34, 24.01, 23.97, 25.85, 26.78, 24.8, 25.64, 25.28, 12.11, 20.04, 20.57, 20.71, 20.6, 104.83, 128.65, 130.71, 108.74, 97.52, 94.91, 48.75, 44.57]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 57, + "task_plan_idx": 30, + "init_config_idx": 38, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 15, 16, 17], "collision", [976.27, 240.78, 109.75, 89.36]], [19, "contact", null], [19, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37], "collision", [41.67, 9.91, 4.1, 3.7, 2.07, 1.85, 0.45, 2.48, 2.17, 2.75, 2.24, 0.24, 0.79, 0.79, 1.19, 0.58, 0.66, 0.37, 0.3]], [44, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [[69, 70, 75, 78, 81, 90, 97, 99, 100, 111, 118, 120], "collision", [0.12, 0.03, 0.01, 0.4, 0.62, 0.03, 0.09, 1.59, 0.59, 275.97, 0.07, 0.07]], [125, "success", null], [128, "lost_success", null], [[131, 132, 133], "collision", [0.38, 0.1, 0.45]], [137, "success", null], [[143], "collision", [0.04]], [144, "lost_success", null], [145, "success", null], [146, "lost_success", null], [148, "success", null], [151, "lost_success", null], [[153, 159], "collision", [0.1, 0.05]], [166, "success", null], [[169], "collision", [0.1]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 69, + "init_config_idx": 104, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6, 7, 8, 9, 10], "collision", [249.84, 213.68, 169.44, 177.29, 156.9, 144.11, 82.04, 14.19]], [12, "contact", null], [12, "grasped", null], [[15, 16, 18, 21], "collision", [383.77, 343.94, 87.42, 56.76]], [32, "success", null], [39, "lost_success", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [56, "lost_success", null], [62, "success", null], [74, "lost_success", null], [78, "success", null], [84, "lost_success", null], [87, "success", null], [103, "lost_success", null], [108, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 0, + "init_config_idx": 67, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[26], "collision", [3.12]], [27, "contact", null], [27, "grasped", null], [50, "success", null], [52, "lost_success", null], [53, "success", null], [74, "lost_success", null], [75, "success", null], [80, "lost_success", null], [87, "success", null], [89, "lost_success", null], [90, "success", null], [92, "lost_success", null], [[93, 94], "collision", [8.55, 2.85]], [95, "success", null], [[96, 97, 98, 99, 100, 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", [1.47, 8.14, 7.8, 7.6, 2.67, 7.94, 16.15, 15.96, 15.92, 15.85, 15.57, 15.59, 15.59, 15.64, 15.75, 15.77, 15.9, 15.78, 15.66, 15.56, 15.71, 15.62, 15.47, 15.78, 15.66, 15.82, 15.71, 30.27, 41.01, 35.14, 43.89, 33.75, 12.75]], [132, "lost_success", null], [[132, 133, 134, 135, 136, 137, 138, 140, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "collision", [30.81, 39.34, 39.25, 28.98, 32.63, 36.6, 36.14, 36.15, 7.35, 7.44, 7.03, 6.89, 6.99, 13.11, 13.35, 13.21, 13.13, 13.2, 13.26, 12.97, 12.55, 12.88, 12.5, 12.53]], [159, "success", null], [[159, 160, 161], "collision", [12.55, 12.41, 12.19]], [162, "lost_success", null], [[162, 163, 164, 165, 166, 167, 168], "collision", [12.18, 12.06, 12.19, 11.99, 12.0, 11.94, 6.08]], [171, "success", null], [175, "lost_success", null], [[192, 193, 194, 195, 196, 197, 198, 199], "collision", [12.77, 12.84, 12.6, 14.13, 13.18, 13.29, 12.69, 11.41]]], + "articulation_type": "fridge", + "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": 58, + "task_plan_idx": 2, + "init_config_idx": 149, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [213.16, 77.34]], [16, "contact", null], [16, "grasped", null], [[16], "collision", [1729.99]], [36, "success", null], [42, "lost_success", null], [44, "success", null], [[44, 45, 46, 47, 48, 49, 50], "collision", [78.08, 57.98, 27.65, 52.43, 98.12, 47.97, 58.84]], [79, "lost_success", null], [81, "success", null], [90, "lost_success", null], [91, "success", null], [98, "lost_success", null]], + "articulation_type": "fridge", + "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": 59, + "task_plan_idx": 141, + "init_config_idx": 54, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 14], "collision", [377.84, 269.28, 227.79, 217.13, 60.91]], [18, "contact", null], [18, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 25, 26], "collision", [75.0, 22.35, 25.51, 27.29, 24.83, 27.31, 25.4, 98.31, 5.36]], [43, "success", null], [63, "lost_success", null], [64, "success", null], [[74, 75, 76], "collision", [2.07, 71.65, 24.7]], [77, "lost_success", null], [[77], "collision", [14.13]], [78, "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, 107], "collision", [61.63, 12.81, 35.45, 79.42, 20.72, 18.45, 99.48, 55.01, 70.44, 115.55, 47.57, 95.33, 47.28, 99.47, 69.94, 28.69, 56.54, 32.98, 44.97, 38.3, 59.12, 54.81, 64.03, 59.11, 34.01, 28.5]], [108, "lost_success", null], [[108, 109], "collision", [59.12, 67.36]], [110, "success", null], [[110, 111, 112, 113, 114, 115, 116, 119, 120, 121, 122, 123, 124, 126, 129, 130, 131, 133], "collision", [77.14, 33.24, 61.09, 47.93, 22.44, 11.52, 12.16, 56.35, 45.36, 34.54, 42.58, 31.11, 56.49, 12.35, 15.32, 12.83, 63.26, 32.0]], [139, "lost_success", null], [140, "success", null], [141, "lost_success", null], [142, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 59, + "task_plan_idx": 112, + "init_config_idx": 84, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [11, "grasped", null], [[29, 30], "collision", [14.2, 20.26]], [31, "success", null], [[31, 32, 33, 34], "collision", [48.68, 55.55, 57.73, 49.51]], [35, "lost_success", null], [[35], "collision", [44.45]], [36, "success", null], [[36, 37], "collision", [43.52, 50.2]], [38, "lost_success", null], [[38, 39, 40], "collision", [38.04, 38.56, 31.49]], [41, "success", null], [[41, 42, 43, 44], "collision", [32.29, 30.76, 31.31, 30.49]], [45, "lost_success", null], [[45, 46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [29.67, 28.05, 28.8, 26.69, 28.4, 29.63, 30.89, 30.67, 30.42, 28.42]], [55, "success", null], [[55, 56, 57, 58, 59], "collision", [28.7, 27.92, 27.58, 26.72, 28.02]], [60, "lost_success", null], [[60], "collision", [28.19]], [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, 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], "collision", [28.22, 26.66, 27.11, 27.98, 28.84, 28.33, 27.32, 29.31, 29.28, 31.03, 29.51, 27.8, 27.12, 27.53, 27.45, 29.58, 27.89, 28.57, 29.57, 28.01, 28.44, 27.43, 27.64, 27.6, 28.17, 29.89, 27.98, 28.66, 28.9, 28.26, 29.6, 28.33, 27.92, 29.0, 29.03, 31.51, 31.21, 31.49, 32.92, 31.18, 29.98, 30.25, 30.52, 30.54, 30.28, 31.5, 30.08, 29.85, 29.67, 28.7, 26.09, 25.72, 27.97, 27.65, 27.59, 28.36, 27.32, 28.4, 28.1, 28.1, 25.45, 25.35, 26.5, 25.74, 26.96, 26.83, 26.93, 26.49, 28.86, 27.73, 26.26, 27.4, 27.3, 27.92]], [135, "lost_success", null], [[135, 136, 137], "collision", [31.12, 27.24, 27.87]], [138, "success", null], [[138, 139], "collision", [27.29, 28.74]], [140, "lost_success", null], [[140], "collision", [26.98]], [141, "success", null], [[141, 142, 143, 144, 145, 146], "collision", [30.65, 29.42, 31.01, 31.77, 22.32, 2.47]], [147, "lost_success", null], [[147], "collision", [14.33]], [148, "success", null], [[148, 149, 150, 151, 152, 153, 154, 155, 157, 158, 159, 160, 162, 163, 164, 165, 166, 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", [13.61, 10.01, 14.47, 6.94, 15.27, 9.62, 4.48, 6.79, 2.23, 5.78, 9.36, 6.28, 9.95, 1.61, 4.8, 4.51, 4.36, 2.48, 6.14, 10.55, 6.83, 7.22, 6.54, 10.13, 8.17, 7.66, 9.05, 0.61, 2.62, 5.96, 5.79, 8.37, 7.62, 8.73, 6.64, 3.28, 5.56, 1.44, 18.71, 15.23, 18.45, 5.51, 10.58, 7.75, 8.83, 8.93, 8.17, 7.35, 11.17]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 59, + "task_plan_idx": 113, + "init_config_idx": 42, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [296.8, 268.01, 182.13, 182.73]], [13, "contact", null], [13, "grasped", null], [[13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "collision", [26.53, 27.72, 24.11, 26.11, 26.4, 442.05, 29.53, 71.73, 41.91, 80.66, 18.51, 15.3, 17.03, 16.86, 14.53, 17.81, 18.1, 17.18, 18.58, 17.96, 14.83, 15.8, 12.82]], [36, "success", null], [[36, 37, 38], "collision", [15.95, 13.56, 12.18]], [39, "lost_success", null], [[39, 40, 41], "collision", [18.84, 19.46, 21.56]], [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, 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, 194, 195, 196, 197, 198, 199], "collision", [23.39, 18.51, 19.47, 19.17, 23.39, 20.07, 23.91, 19.98, 21.69, 20.1, 19.61, 20.22, 21.06, 23.27, 23.79, 21.99, 22.11, 21.29, 26.13, 20.69, 20.78, 17.97, 18.74, 15.44, 17.42, 19.75, 16.43, 18.58, 19.81, 19.2, 18.2, 16.23, 18.14, 17.24, 18.18, 17.23, 15.6, 15.15, 16.41, 14.74, 15.25, 20.36, 17.09, 15.43, 14.94, 16.17, 16.22, 13.44, 15.64, 15.58, 18.07, 14.1, 17.73, 15.66, 16.57, 16.98, 16.18, 16.28, 15.2, 14.82, 17.54, 16.39, 15.24, 16.07, 14.99, 17.5, 19.4, 16.89, 18.39, 18.77, 18.82, 18.43, 18.87, 18.6, 21.72, 18.79, 20.89, 19.93, 19.85, 20.46, 18.48, 18.77, 21.52, 18.93, 20.45, 20.39, 17.68, 19.87, 17.63, 16.96, 14.67, 16.15, 14.81, 17.26, 14.32, 14.68, 14.29, 16.95, 20.88, 21.37, 19.85, 19.89, 21.43, 19.41, 21.04, 20.9, 20.34, 21.14, 19.7, 21.2, 19.37, 18.85, 20.04, 19.88, 18.68, 18.72, 16.36, 18.98, 18.77, 18.49, 15.03, 17.62, 17.19, 15.9, 15.78, 17.78, 16.56, 16.19, 16.29, 16.48, 20.45, 20.74, 21.98, 21.54, 21.92, 19.36, 19.39, 20.26, 20.88, 22.96, 20.36, 19.62, 19.91, 21.09, 18.74, 20.1, 19.36, 18.79, 18.05, 20.92, 19.43, 18.27, 20.43, 21.99, 21.67, 21.51, 20.03, 17.88]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 60, + "task_plan_idx": 24, + "init_config_idx": 20, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [136.58, 35.46]], [17, "contact", null], [17, "grasped", null], [46, "success", null], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [54, "lost_success", null], [57, "success", null], [59, "lost_success", null], [64, "success", null], [67, "lost_success", null], [71, "success", null], [74, "lost_success", null], [107, "success", null], [113, "lost_success", null], [115, "success", null], [116, "lost_success", null], [117, "success", null], [119, "lost_success", null], [125, "success", null], [126, "lost_success", null], [127, "success", null], [132, "lost_success", null], [133, "success", null], [136, "lost_success", null], [147, "success", null], [149, "lost_success", null], [151, "success", null], [156, "lost_success", null], [157, "success", null], [160, "lost_success", null], [168, "success", null], [174, "lost_success", null], [176, "success", null], [180, "lost_success", null], [189, "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": 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": 60, + "task_plan_idx": 135, + "init_config_idx": 31, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [52, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 61, + "task_plan_idx": 45, + "init_config_idx": 47, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [[41, 42], "collision", [311.22, 6.84]], [56, "success", null], [57, "lost_success", null], [58, "success", null], [67, "lost_success", null], [69, "success", null], [79, "lost_success", null], [85, "success", null], [110, "lost_success", null], [111, "success", null], [120, "lost_success", null], [129, "success", null], [[155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 194, 195, 196, 197, 198, 199], "collision", [22.72, 49.98, 53.53, 46.87, 25.38, 21.14, 28.54, 33.42, 31.9, 11.8, 11.62, 6.0, 43.12, 42.57, 27.9, 39.36, 34.8, 27.38]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 61, + "task_plan_idx": 44, + "init_config_idx": 79, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [[22], "collision", [522.18]], [34, "success", null], [57, "lost_success", null], [75, "success", null], [78, "lost_success", null], [79, "success", null], [81, "lost_success", null], [84, "success", null], [125, "lost_success", null], [127, "success", null], [130, "lost_success", null], [137, "success", null], [151, "lost_success", null], [158, "success", null], [160, "lost_success", null], [166, "success", null], [168, "lost_success", null], [175, "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": 62, + "task_plan_idx": 109, + "init_config_idx": 88, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [100.3]], [20, "contact", null], [20, "grasped", null], [36, "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, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122], "collision", [45.39, 21.74, 20.86, 21.56, 22.38, 21.19, 20.83, 21.86, 22.02, 21.51, 21.45, 22.33, 21.64, 21.71, 22.11, 21.84, 21.86, 22.35, 21.73, 21.8, 21.51, 21.56, 21.14, 22.47, 22.61, 22.2, 21.47, 21.05, 21.66, 22.34, 21.16, 21.19, 22.67, 21.77, 21.57, 21.36, 21.76, 21.42, 22.12, 21.38, 21.66, 22.32, 21.65, 21.96, 21.73, 21.5, 21.84, 21.89, 21.92, 22.32, 22.0, 22.0, 22.11, 21.68, 22.28, 22.36, 22.42, 21.93, 22.46, 22.03]], [123, "lost_success", null], [[123, 124], "collision", [22.36, 22.51]], [125, "success", null], [[125, 126], "collision", [22.34, 22.1]], [127, "lost_success", null], [[127], "collision", [22.36]], [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, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168], "collision", [22.54, 23.0, 21.57, 23.56, 21.93, 22.62, 21.97, 23.98, 22.62, 22.25, 23.16, 22.65, 22.4, 21.83, 23.65, 23.39, 23.06, 22.77, 23.9, 23.02, 23.83, 22.66, 21.84, 22.21, 24.69, 23.28, 23.79, 22.91, 22.92, 23.69, 23.16, 23.58, 23.52, 24.11, 24.51, 22.79, 22.78, 22.13, 23.52, 22.51, 22.23]], [169, "lost_success", null], [[169, 170, 171, 172], "collision", [23.97, 22.85, 23.2, 21.62]], [184, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 111, + "init_config_idx": 66, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11, 12, 13], "collision", [1129.96, 156.66, 103.34, 141.17]], [15, "contact", null], [15, "grasped", null], [[16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [111.33, 119.58, 40.57, 32.0, 25.28, 22.85, 4.04, 4.04, 6.49, 5.83, 5.17, 5.04, 4.49, 1.83, 3.1, 3.23, 4.06, 4.16, 2.12, 3.96, 3.16]], [37, "success", null], [[37, 38, 39, 40, 41, 42, 43, 44], "collision", [4.62, 5.04, 4.97, 5.5, 2.9, 4.04, 3.2, 1.38]], [45, "lost_success", null], [[45, 46, 47, 48, 49, 50, 51], "collision", [4.11, 5.92, 0.87, 3.15, 6.39, 5.47, 4.76]], [52, "success", null], [[52], "collision", [5.55]], [53, "lost_success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "collision", [3.9, 5.31, 3.08, 4.33, 3.92, 5.3, 5.39, 3.89, 5.81, 3.6]], [63, "success", null], [[63, 64], "collision", [0.46, 2.95]], [65, "lost_success", null], [[65], "collision", [4.92]], [66, "success", null], [[66, 67, 68, 69], "collision", [5.01, 3.5, 3.54, 3.52]], [70, "lost_success", null], [[70], "collision", [4.46]], [71, "success", null], [[71], "collision", [2.6]], [72, "lost_success", null], [[72], "collision", [5.79]], [73, "success", null], [[73, 74, 75], "collision", [3.38, 1.98, 3.59]], [76, "lost_success", null], [[76, 77, 78, 79, 80, 81, 82], "collision", [1.7, 3.55, 3.87, 4.69, 2.65, 4.7, 6.04]], [83, "success", null], [[83, 84, 85, 86, 87], "collision", [2.69, 2.83, 2.23, 4.16, 5.25]], [88, "lost_success", null], [[88, 89, 90], "collision", [2.4, 4.45, 6.7]], [91, "success", null], [[91, 92, 93, 94], "collision", [4.62, 3.62, 4.04, 4.01]], [95, "lost_success", null], [[95, 96, 97, 98], "collision", [0.69, 2.25, 5.17, 3.67]], [99, "success", null], [[99, 100, 101], "collision", [3.88, 3.13, 2.64]], [102, "lost_success", null], [[102], "collision", [5.88]], [103, "success", null], [[103], "collision", [4.28]], [104, "lost_success", null], [[104], "collision", [4.18]], [105, "success", null], [[105, 106], "collision", [2.11, 2.84]], [107, "lost_success", null], [[107], "collision", [3.99]], [108, "success", null], [[108], "collision", [2.21]], [109, "lost_success", null], [[109], "collision", [3.57]], [110, "success", null], [[110, 111], "collision", [4.94, 1.41]], [112, "lost_success", null], [[112], "collision", [4.94]], [113, "success", null], [[113, 114, 115, 116], "collision", [4.98, 3.82, 4.04, 4.42]], [117, "lost_success", null], [[117], "collision", [1.91]], [118, "success", null], [[118, 119, 120], "collision", [6.09, 4.28, 3.63]], [121, "lost_success", null], [[121], "collision", [6.66]], [122, "success", null], [[122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [4.7, 3.48, 8.5, 4.48, 5.79, 4.11, 3.78, 2.67, 4.89, 3.75, 3.3, 3.07, 3.66]], [135, "lost_success", null], [[135], "collision", [3.99]], [136, "success", null], [[136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146], "collision", [3.99, 5.46, 4.21, 3.41, 3.34, 3.86, 3.39, 3.94, 3.31, 3.48, 3.19]], [147, "lost_success", null], [[147], "collision", [3.51]], [148, "success", null], [[148, 149, 150, 151, 152], "collision", [4.27, 4.66, 2.08, 2.88, 3.77]], [153, "lost_success", null], [[153, 154, 155, 156, 157, 158, 159, 160, 161], "collision", [3.65, 2.92, 3.6, 3.56, 1.54, 1.2, 2.58, 3.54, 1.62]], [162, "success", null], [[162], "collision", [4.6]], [163, "lost_success", null], [[163], "collision", [6.41]], [164, "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, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [4.09, 2.29, 3.44, 3.73, 3.55, 2.28, 1.34, 2.29, 0.63, 1.55, 3.44, 2.98, 4.68, 2.58, 3.4, 1.86, 4.58, 4.05, 2.47, 3.97, 2.48, 0.95, 1.92, 2.58, 2.81, 4.3, 4.46, 3.93, 3.86, 1.86, 2.46, 2.35, 3.88, 5.59, 4.87, 2.61]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 12, + "init_config_idx": 71, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [241.19]], [18, "contact", null], [19, "grasped", null], [[19, 29, 30, 31, 32, 33], "collision", [38.36, 22.53, 10.9, 13.35, 14.05, 15.84]], [34, "success", null], [[34], "collision", [16.08]], [35, "lost_success", null], [[35], "collision", [20.11]], [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, 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], "collision", [18.58, 19.25, 19.64, 20.13, 18.23, 18.72, 20.45, 19.8, 21.96, 19.98, 23.57, 21.73, 23.29, 24.07, 23.11, 22.59, 20.5, 22.21, 23.17, 20.57, 22.13, 21.56, 25.47, 25.0, 23.17, 20.65, 21.71, 22.47, 21.76, 21.58, 21.45, 20.44, 25.82, 20.56, 18.62, 21.07, 20.89, 20.39, 21.62, 17.07, 19.79, 18.54, 15.56, 19.58, 20.88, 21.08, 22.08, 26.83, 23.96, 28.29, 20.04, 18.47, 18.24, 16.43, 16.63, 20.62, 18.19, 19.99, 21.37, 21.88, 23.37, 18.11, 21.24, 16.28, 20.19, 21.71, 20.26, 19.12, 20.79, 22.44, 19.47, 17.34, 19.49, 19.11, 22.17, 17.08, 20.0, 17.01, 19.45, 22.74, 20.08, 20.37, 19.26, 21.96, 24.22, 26.33, 26.31, 17.69, 19.22, 19.77, 17.04, 17.97, 19.98, 19.24, 20.56, 19.69, 18.16, 21.56, 23.72, 25.02, 23.32, 23.05, 21.34, 19.25, 18.44, 21.34, 27.19, 22.87, 21.1, 18.38, 18.55, 17.96, 20.82, 19.97, 19.65, 19.4, 22.83, 25.72, 21.45, 24.4, 28.93, 27.87, 24.82, 21.93, 19.79, 17.79, 21.23, 19.0, 21.38, 23.86, 25.54, 21.31, 19.71, 20.08, 22.22, 21.2, 22.39, 21.73, 20.41, 23.87, 21.84, 26.41, 21.87, 21.88, 19.08, 21.64, 23.55]], [183, "lost_success", null], [[183], "collision", [18.98]], [184, "success", null], [[184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [22.88, 18.3, 24.33, 23.66, 25.92, 22.16, 24.93, 23.79, 25.34, 25.11, 22.9, 21.27, 22.12, 20.71, 18.92, 27.96]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 149, + "init_config_idx": 130, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [10.43]], [17, "contact", null], [17, "grasped", null], [31, "success", null], [32, "lost_success", null], [33, "success", null], [34, "lost_success", null], [35, "success", null], [38, "lost_success", null], [40, "success", null], [41, "lost_success", null], [43, "success", null], [50, "lost_success", null], [51, "success", null], [60, "lost_success", null], [63, "success", null], [65, "lost_success", null], [66, "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": 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": 63, + "task_plan_idx": 65, + "init_config_idx": 50, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 9, 10], "collision", [1825.12, 241.18, 219.89]], [16, "contact", null], [16, "grasped", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [45, "lost_success", null], [47, "success", null], [51, "lost_success", null], [56, "success", null], [57, "lost_success", null], [66, "success", null], [68, "lost_success", null], [69, "success", null], [72, "lost_success", null], [84, "success", null], [95, "lost_success", null], [101, "success", null], [103, "lost_success", null], [124, "success", null], [129, "lost_success", null], [130, "success", null], [131, "lost_success", null], [132, "success", null], [157, "lost_success", null], [165, "success", null], [167, "lost_success", null], [170, "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": 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": 64, + "task_plan_idx": 96, + "init_config_idx": 38, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [28.05]], [17, "contact", null], [17, "grasped", null], [[18], "collision", [216.82]], [31, "success", null], [36, "lost_success", null], [43, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [50, "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], "collision", [44.45, 75.6, 71.89, 74.34, 63.72, 58.99, 77.06, 79.5, 73.51, 67.56, 59.51, 65.8, 58.7, 53.37, 60.07, 65.42, 69.37, 72.06, 73.53, 62.22, 59.24, 80.55, 65.33, 60.71, 69.51, 68.4, 54.05, 67.96, 61.08, 50.79, 65.4, 54.93, 56.45, 57.98, 61.33, 65.23, 65.81, 67.03, 65.53, 52.02, 37.96]], [93, "lost_success", null], [[93], "collision", [15.81]], [99, "success", null], [101, "lost_success", null], [105, "success", null], [107, "lost_success", null], [108, "success", null], [120, "lost_success", null], [128, "success", null], [135, "lost_success", null], [142, "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": 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": 64, + "task_plan_idx": 156, + "init_config_idx": 0, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19, 20], "collision", [10.41, 5.02]], [21, "contact", null], [[21], "collision", [56.82]], [22, "grasped", null], [[22, 23], "collision", [22.97, 3.58]], [46, "success", null], [47, "lost_success", null], [[52], "collision", [395.76]], [53, "success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "collision", [220.08, 195.76, 155.16, 143.15, 82.25, 154.26, 104.86, 114.61, 118.36, 263.72]], [63, "lost_success", null], [[63, 64], "collision", [175.06, 163.12]], [65, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75], "collision", [180.79, 126.14, 152.85, 216.96, 237.93, 296.36, 245.49, 139.26, 159.28, 201.8, 140.8]], [195, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 88, + "init_config_idx": 41, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12], "collision", [107.91, 2.78, 31.48]], [16, "contact", null], [16, "grasped", null], [37, "success", null], [41, "lost_success", null], [42, "success", null], [48, "lost_success", null], [53, "success", null], [56, "lost_success", null], [57, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [89, "success", null], [117, "lost_success", null], [118, "success", null], [175, "lost_success", null], [176, "success", null], [183, "lost_success", null], [184, "success", null], [186, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 77, + "init_config_idx": 0, + "spawn_selection_idx": 7, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14], "collision", [298.24, 124.27, 65.7]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19, 20, 21, 22], "collision", [1.42, 8.46, 9.95, 11.07, 12.1, 1.64]], [37, "success", null], [46, "lost_success", null], [47, "success", null], [52, "lost_success", null], [58, "success", null], [67, "lost_success", null], [68, "success", null], [70, "lost_success", null], [73, "success", null], [74, "lost_success", null], [78, "success", null], [80, "lost_success", null], [81, "success", null], [89, "lost_success", null], [90, "success", null], [92, "lost_success", null], [94, "success", null], [96, "lost_success", null], [97, "success", null], [114, "lost_success", null], [120, "success", null], [122, "lost_success", null], [123, "success", null], [124, "lost_success", null], [128, "success", null], [131, "lost_success", null], [136, "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": 65, + "task_plan_idx": 31, + "init_config_idx": 65, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16], "collision", [2272.36, 248.89, 185.98]], [19, "contact", null], [[19], "collision", [910.52]], [20, "grasped", null], [46, "success", null], [62, "lost_success", null], [63, "success", null], [83, "lost_success", null], [92, "success", null], [99, "lost_success", null], [110, "success", null], [111, "lost_success", null], [112, "success", null], [114, "lost_success", null], [115, "success", null], [129, "lost_success", null], [132, "success", null], [136, "lost_success", null], [138, "success", null], [168, "lost_success", null], [174, "success", null], [175, "lost_success", null], [177, "success", null], [180, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 65, + "task_plan_idx": 59, + "init_config_idx": 24, + "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], [[17, 18, 19, 20, 21, 22, 23, 24, 25, 34, 35], "collision", [19.31, 8.72, 4.03, 7.7, 7.97, 10.12, 6.25, 6.7, 7.77, 33.24, 57.36]], [36, "success", null], [[36, 37], "collision", [53.04, 51.39]], [38, "lost_success", null], [[38, 39], "collision", [51.37, 45.83]], [40, "success", null], [[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, 70], "collision", [44.46, 38.27, 39.12, 44.48, 39.92, 37.97, 51.74, 51.82, 39.1, 38.71, 30.31, 24.01, 30.12, 44.88, 34.0, 23.08, 44.56, 35.86, 32.3, 26.16, 34.46, 22.54, 26.63, 27.94, 30.53, 28.21, 24.88, 3.3]], [72, "lost_success", null], [[72], "collision", [2.09]], [73, "success", null], [[73], "collision", [2.73]], [74, "lost_success", null], [[74, 75, 76, 77], "collision", [1.89, 1.63, 1.81, 1.97]], [78, "success", null], [[78, 79, 80, 81, 82, 84, 85, 87, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 110, 111, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133], "collision", [1.43, 0.03, 1.07, 1.06, 0.23, 0.23, 1.37, 0.35, 0.62, 0.26, 1.93, 0.92, 0.96, 1.44, 0.18, 2.58, 0.86, 1.1, 1.6, 0.41, 2.07, 0.94, 1.75, 0.56, 3.11, 5.36, 1.57, 3.73, 0.88, 1.81, 0.73, 1.99, 21.18, 24.1, 26.74, 35.05, 32.02, 30.62, 60.75, 64.25, 65.04, 62.01, 56.27, 80.38, 82.46, 70.66, 54.17, 58.34]], [134, "lost_success", null], [[134, 135], "collision", [53.73, 58.4]], [136, "success", null], [[136], "collision", [57.77]], [137, "lost_success", null], [[137], "collision", [51.69]], [138, "success", null], [[138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155], "collision", [47.16, 42.86, 37.9, 31.73, 17.64, 12.91, 13.1, 12.63, 13.71, 14.16, 13.43, 14.49, 13.3, 12.6, 15.86, 12.78, 14.3, 13.89]], [156, "lost_success", null], [[156, 157, 158, 159, 160, 161], "collision", [14.23, 17.08, 12.94, 12.73, 13.16, 13.94]], [162, "success", null], [[162, 163, 166, 168, 169, 170, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [12.97, 8.68, 17.41, 2.34, 4.52, 1.76, 5.76, 4.17, 3.98, 13.12, 24.73, 24.57, 31.87, 23.31, 24.73, 16.93, 15.03, 17.97, 13.86, 5.19, 3.93, 13.49, 7.54, 11.8, 9.14, 11.57, 11.13, 8.58, 9.05, 11.44, 5.46, 6.99]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 173, + "init_config_idx": 112, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 18, 19], "collision", [250.65, 106.37, 144.28, 330.1, 184.69]], [26, "contact", null], [26, "grasped", null], [50, "success", null], [138, "lost_success", null], [139, "success", null], [156, "lost_success", null], [157, "success", null], [162, "lost_success", null], [164, "success", null], [183, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "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": 67, + "task_plan_idx": 20, + "init_config_idx": 79, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [48.54]], [13, "contact", null], [13, "grasped", null], [32, "success", null], [34, "lost_success", null], [36, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [69, "lost_success", null], [70, "success", null], [78, "lost_success", null], [80, "success", null], [[81, 82, 83, 84], "collision", [3.58, 56.97, 55.8, 185.38]], [86, "lost_success", null], [[86], "collision", [149.24]], [87, "success", null], [[87, 88, 89, 90, 91, 92, 93, 94, 95, 104, 105, 106, 108, 109, 110, 112, 114, 115, 116, 117, 118, 119, 120, 121, 124, 125, 126, 127, 128], "collision", [172.25, 47.18, 33.08, 20.63, 94.1, 35.31, 56.41, 63.81, 48.93, 21.06, 44.73, 62.71, 55.82, 0.24, 137.37, 37.29, 80.87, 65.44, 19.6, 55.09, 64.57, 155.23, 7.12, 61.24, 60.59, 39.34, 70.76, 2.77, 2.37]], [150, "lost_success", null], [160, "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": 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": 67, + "task_plan_idx": 37, + "init_config_idx": 47, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 17], "collision", [126.26, 62.02]], [18, "contact", null], [18, "grasped", null], [[19], "collision", [8.03]], [39, "success", null], [40, "lost_success", null], [44, "success", null], [58, "lost_success", null], [82, "success", null], [83, "lost_success", null], [86, "success", null], [87, "lost_success", null], [88, "success", null], [90, "lost_success", null], [91, "success", null], [92, "lost_success", null], [95, "success", null], [96, "lost_success", null], [97, "success", null], [138, "lost_success", null], [139, "success", null], [149, "lost_success", null], [150, "success", null], [152, "lost_success", null], [153, "success", null], [154, "lost_success", null], [155, "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": 68, + "task_plan_idx": 126, + "init_config_idx": 73, + "spawn_selection_idx": 99, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [49, "success", null], [50, "lost_success", null], [53, "success", null], [55, "lost_success", null], [[55], "collision", [79.63]], [57, "success", null], [60, "lost_success", null], [69, "success", null], [80, "lost_success", null], [81, "success", null], [87, "lost_success", null], [91, "success", null], [105, "lost_success", null], [112, "success", null], [115, "lost_success", null], [116, "success", null], [118, "lost_success", null], [119, "success", null], [132, "lost_success", null], [133, "success", null], [151, "lost_success", null], [156, "success", null], [166, "lost_success", null], [168, "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": 68, + "task_plan_idx": 72, + "init_config_idx": 149, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [34, "success", null], [80, "lost_success", null], [81, "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": 6, + "task_plan_idx": 7, + "init_config_idx": 127, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15, 16, 18, 19, 21, 22, 23], "collision", [145.36, 147.65, 147.16, 147.35, 130.13, 522.62, 345.57, 1127.12, 869.15]], [24, "contact", null], [24, "grasped", null], [[24], "collision", [163.51]], [47, "success", null], [79, "lost_success", null], [81, "success", null], [97, "lost_success", null], [120, "success", null], [126, "lost_success", null], [128, "success", null], [173, "lost_success", null], [177, "success", null], [180, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 6, + "task_plan_idx": 90, + "init_config_idx": 106, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [229.94]], [16, "contact", null], [16, "grasped", null], [[25], "collision", [25.05]], [40, "success", null], [62, "lost_success", null], [68, "success", null], [86, "lost_success", null], [87, "success", null], [89, "lost_success", null], [90, "success", null], [96, "lost_success", null], [99, "success", null], [100, "lost_success", null], [101, "success", null], [111, "lost_success", null], [112, "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": 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": 7, + "task_plan_idx": 102, + "init_config_idx": 105, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [[18], "collision", [9.18]], [19, "grasped", null], [[19, 20, 24, 25, 26, 29, 30, 35, 36], "collision", [0.11, 84.97, 56.73, 34.96, 88.94, 12.05, 35.56, 0.45, 0.34]], [37, "success", null], [[39, 40, 61, 69, 72, 106, 110, 112, 114, 118, 120, 121, 141, 144], "collision", [0.31, 0.19, 0.02, 0.15, 0.11, 0.53, 0.02, 0.0, 0.04, 0.01, 0.09, 0.19, 0.39, 0.4]], [155, "lost_success", null], [157, "success", null], [[164, 165, 168, 169, 170, 184, 185, 187, 188, 190, 191, 192, 193, 196, 199], "collision", [0.09, 0.34, 0.49, 0.26, 0.15, 0.22, 0.39, 0.26, 0.04, 0.15, 0.28, 0.1, 0.34, 0.05, 0.15]]], + "articulation_type": "fridge", + "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": 7, + "task_plan_idx": 20, + "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": [[[2, 3, 4], "collision", [1418.36, 585.65, 329.17]], [15, "contact", null], [15, "grasped", null], [[19], "collision", [3.85]], [45, "success", null]], + "articulation_type": "fridge", + "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": 7, + "task_plan_idx": 86, + "init_config_idx": 93, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 11, 12, 13], "collision", [685.09, 350.66, 395.8, 198.98, 184.11, 186.16, 188.67, 361.82]], [14, "contact", null], [15, "grasped", null], [42, "success", null], [43, "lost_success", null], [45, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 8, + "task_plan_idx": 116, + "init_config_idx": 166, + "spawn_selection_idx": 64, + "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], [53, "lost_success", null], [54, "success", null], [99, "lost_success", null], [102, "success", null], [103, "lost_success", null], [104, "success", null], [119, "lost_success", null], [120, "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": 11, + "task_plan_idx": 41, + "init_config_idx": 60, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 15, 16, 17], "collision", [157.62, 93.61, 104.98, 961.66]], [20, "contact", null], [20, "grasped", null], [44, "success", null], [85, "lost_success", null], [88, "success", null], [90, "lost_success", null], [95, "success", null], [161, "lost_success", null], [164, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 11, + "task_plan_idx": 111, + "init_config_idx": 106, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 17, 18, 19, 20, 21], "collision", [376.16, 162.23, 144.74, 158.43, 174.68, 169.71, 194.46, 193.55]], [22, "contact", null], [23, "lost_contact", null], [[23], "collision", [231.13]], [24, "contact", null], [[24, 25, 26], "collision", [424.93, 802.58, 458.44]], [27, "grasped", null], [[27], "collision", [226.22]], [49, "success", null], [50, "lost_success", null], [52, "success", null], [103, "lost_success", null], [155, "success", null], [158, "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": 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": 11, + "task_plan_idx": 138, + "init_config_idx": 8, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [1104.77]], [22, "contact", null], [22, "grasped", null], [[22, 23, 25, 26], "collision", [3.67, 2.35, 0.56, 0.8]], [45, "success", null], [60, "lost_success", null], [61, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [71, "success", null], [78, "lost_success", null], [79, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 12, + "task_plan_idx": 61, + "init_config_idx": 95, + "spawn_selection_idx": 26, + "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], [53, "lost_success", null], [54, "success", null], [65, "lost_success", null], [66, "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": 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": 12, + "task_plan_idx": 147, + "init_config_idx": 126, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [58, "success", null], [64, "lost_success", null], [77, "success", null], [80, "lost_success", null], [81, "success", null], [105, "lost_success", null], [109, "success", null], [118, "lost_success", null], [119, "success", null], [121, "lost_success", null], [122, "success", null], [123, "lost_success", null], [124, "success", null], [125, "lost_success", null], [130, "success", null], [142, "lost_success", null], [146, "success", null], [147, "lost_success", null], [148, "success", null], [149, "lost_success", null], [153, "success", null], [162, "lost_success", null], [165, "success", null], [166, "lost_success", null], [168, "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": 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": 13, + "task_plan_idx": 9, + "init_config_idx": 26, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[24, 25], "collision", [116.37, 272.41]], [26, "contact", null], [[26], "collision", [141.86]], [28, "lost_contact", null], [[30, 31], "collision", [86.05, 118.14]], [32, "contact", null], [[32], "collision", [45.86]], [33, "lost_contact", null], [[33], "collision", [2821.11]], [34, "contact", null], [34, "grasped", null], [[34], "collision", [2.1]], [57, "success", null], [58, "lost_success", null], [65, "success", null], [108, "lost_success", null], [110, "success", null], [112, "lost_success", null], [113, "success", null], [120, "lost_success", null], [122, "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": 13, + "task_plan_idx": 84, + "init_config_idx": 108, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [1295.13]], [13, "contact", null], [13, "grasped", null], [29, "success", null], [71, "lost_success", null], [84, "success", null], [87, "lost_success", null], [88, "success", null], [[92], "collision", [15.89]], [93, "lost_success", null], [[93, 94], "collision", [17.67, 20.96]], [95, "success", null], [[95, 96], "collision", [20.31, 23.16]], [97, "lost_success", null], [[97, 98], "collision", [23.69, 23.46]], [99, "success", null], [[99, 100, 101], "collision", [23.86, 25.51, 27.88]], [102, "lost_success", null], [[102, 103], "collision", [8.49, 10.58]], [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, 133, 134, 135, 136], "collision", [6.83, 6.66, 6.51, 3.43, 7.84, 6.88, 6.46, 10.0, 3.77, 0.54, 3.27, 4.02, 3.51, 5.37, 6.38, 3.19, 4.75, 0.65, 6.18, 3.9, 1.35, 4.29, 6.07, 1.91, 7.81, 6.87, 2.17, 4.68, 3.56, 5.39, 0.19, 5.26, 5.0]], [137, "lost_success", null], [[137], "collision", [4.65]], [138, "success", null], [[138], "collision", [1.83]], [139, "lost_success", null], [[139, 140, 141, 142, 143], "collision", [1.89, 1.45, 3.12, 3.63, 6.68]], [144, "success", null], [[144], "collision", [8.91]], [145, "lost_success", null], [[145], "collision", [9.0]], [146, "success", null], [[146, 147], "collision", [4.73, 5.8]], [148, "lost_success", null], [[148], "collision", [4.87]], [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, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195], "collision", [5.85, 4.74, 7.49, 2.99, 6.25, 2.29, 4.63, 4.66, 3.52, 9.63, 7.6, 6.42, 4.4, 8.87, 4.31, 3.11, 9.42, 2.81, 3.52, 3.11, 3.9, 0.21, 6.66, 7.74, 0.22, 1.77, 4.41, 6.54, 3.46, 2.65, 5.93, 7.82, 9.4, 7.18, 2.96, 6.28, 3.45, 6.35, 5.37, 0.2, 2.47, 0.57, 5.59, 0.72, 2.67, 2.87, 7.19]], [196, "lost_success", null], [[196], "collision", [8.2]], [197, "success", null], [[197, 198, 199], "collision", [6.24, 8.57, 4.29]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 14, + "task_plan_idx": 102, + "init_config_idx": 132, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 18], "collision", [279.49, 2411.25, 3.08]], [19, "contact", null], [20, "grasped", null], [36, "success", null], [44, "lost_success", null], [45, "success", null], [47, "lost_success", null], [50, "success", null], [51, "lost_success", null], [53, "success", null], [55, "lost_success", null], [56, "success", null], [76, "lost_success", null], [86, "success", null], [88, "lost_success", null], [89, "success", null], [100, "lost_success", null], [101, "success", null], [118, "lost_success", null], [120, "success", null], [130, "lost_success", null], [131, "success", null], [144, "lost_success", null], [149, "success", null], [151, "lost_success", null], [154, "success", null], [[162, 163, 164, 165, 166, 167, 168, 171, 172, 173, 174, 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", [24.64, 23.77, 23.71, 11.43, 9.74, 19.64, 10.76, 11.57, 11.14, 13.89, 13.62, 14.97, 14.5, 18.95, 11.26, 14.54, 19.25, 26.74, 15.39, 13.72, 6.1, 12.11, 15.12, 14.07, 16.39, 12.86, 16.97, 13.11, 12.93, 17.45, 19.53, 22.17, 11.62, 17.09, 18.65]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 127, + "init_config_idx": 9, + "spawn_selection_idx": 96, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [55, "success", null], [63, "lost_success", null], [[63], "collision", [1037.59]], [64, "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, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "collision", [304.06, 79.64, 38.05, 97.03, 66.6, 43.33, 156.39, 66.57, 93.84, 107.03, 98.27, 47.83, 44.41, 118.49, 28.16, 93.44, 82.27, 102.2, 48.38, 104.92, 25.37, 53.81, 81.21, 174.58, 119.65, 57.35, 69.44, 54.29, 102.84, 74.21, 59.67, 46.88, 70.41, 55.92, 36.68, 30.48, 22.64]], [106, "lost_success", null], [107, "success", null], [112, "lost_success", null], [113, "success", null], [[131], "collision", [6.92]], [160, "lost_success", null], [161, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 48, + "init_config_idx": 31, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11, 12, 13, 14], "collision", [84.93, 257.19, 162.58, 184.08, 144.27]], [16, "contact", null], [16, "grasped", null], [34, "success", null], [35, "lost_success", null], [36, "success", null], [37, "lost_success", null], [38, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [60, "success", null], [81, "lost_success", null], [82, "success", null], [91, "lost_success", null], [92, "success", null], [99, "lost_success", null], [100, "success", null], [136, "lost_success", null], [137, "success", null], [142, "lost_success", null], [144, "success", null], [145, "lost_success", null], [147, "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": 16, + "task_plan_idx": 114, + "init_config_idx": 68, + "spawn_selection_idx": 52, + "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], [43, "lost_success", null], [44, "success", null], [111, "lost_success", null], [116, "success", null], [117, "lost_success", null], [119, "success", null], [120, "lost_success", null], [123, "success", null], [124, "lost_success", null], [126, "success", null], [127, "lost_success", null], [128, "success", null], [129, "lost_success", null], [132, "success", null], [133, "lost_success", null], [139, "success", null], [141, "lost_success", null], [143, "success", null], [144, "lost_success", null], [145, "success", null], [146, "lost_success", null], [147, "success", null], [148, "lost_success", null], [150, "success", null], [151, "lost_success", null], [153, "success", null], [154, "lost_success", null], [155, "success", null], [157, "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": 17, + "task_plan_idx": 110, + "init_config_idx": 48, + "spawn_selection_idx": 94, + "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], [39, "lost_success", null], [41, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [[132, 133, 134, 135, 136, 137, 139, 141, 143, 146, 147, 148, 149, 151, 152, 154, 155, 156, 157, 158, 159, 161, 162, 163, 164, 165, 166, 167, 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", [36.07, 37.05, 29.19, 31.98, 24.24, 14.21, 31.69, 32.1, 1.59, 27.74, 22.74, 0.09, 24.08, 25.15, 28.36, 32.91, 28.18, 35.18, 29.31, 29.46, 31.84, 29.14, 24.22, 31.58, 28.1, 32.28, 29.93, 28.84, 34.57, 34.13, 33.05, 32.41, 1.71, 31.49, 31.91, 34.03, 33.49, 35.8, 30.54, 34.55, 34.05, 33.84, 32.69, 33.43, 36.41, 30.79, 33.76, 37.27, 32.2, 30.18, 31.96, 34.21, 39.39, 31.42, 33.39, 33.15, 33.27, 29.66, 31.28]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 18, + "task_plan_idx": 125, + "init_config_idx": 83, + "spawn_selection_idx": 41, + "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], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 109, 110], "collision", [25.74, 40.15, 32.23, 24.08, 16.69, 30.95, 26.68, 18.67, 10.38, 12.42, 64.91, 51.98]], [111, "lost_success", null], [[111, 112, 113, 114, 115, 116, 117], "collision", [49.68, 54.44, 58.69, 64.37, 64.93, 64.04, 79.21]], [118, "success", null], [[118], "collision", [59.99]], [119, "lost_success", null], [[119, 120, 121, 122, 123, 124, 125], "collision", [50.2, 59.64, 66.04, 61.75, 62.22, 26.06, 28.45]], [126, "success", null], [[126, 129, 130, 132, 133, 134, 136, 137, 138, 139, 142, 143, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 164, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [55.41, 62.75, 26.94, 6.05, 25.13, 25.3, 9.54, 26.19, 22.08, 24.34, 31.31, 23.86, 1.82, 21.68, 33.88, 31.92, 36.09, 71.27, 34.88, 21.41, 26.71, 28.0, 26.96, 14.95, 22.44, 57.17, 51.49, 33.29, 14.95, 13.65, 26.07, 22.21, 46.42, 36.54, 44.33, 48.18, 31.85, 37.25, 42.14, 49.46, 41.73, 88.05]], [199, "lost_success", null], [[199], "collision", [47.87]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 18, + "task_plan_idx": 71, + "init_config_idx": 17, + "spawn_selection_idx": 90, + "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], [44, "lost_success", null], [47, "success", null], [121, "lost_success", null], [122, "success", null], [123, "lost_success", null], [125, "success", null], [128, "lost_success", null], [130, "success", null], [131, "lost_success", null], [133, "success", null], [136, "lost_success", null], [141, "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": 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": 20, + "task_plan_idx": 124, + "init_config_idx": 76, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [377.26, 246.05, 244.1]], [12, "contact", null], [12, "grasped", null], [[16, 17, 18, 19], "collision", [22.59, 19.83, 17.57, 3.3]], [35, "success", null], [37, "lost_success", null], [49, "success", null], [[63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 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", [2.38, 13.89, 7.28, 4.92, 0.41, 0.48, 1.58, 3.81, 7.22, 6.92, 8.5, 6.73, 4.07, 1.73, 0.52, 1.19, 1.84, 2.91, 1.19, 2.1, 1.87, 4.67, 8.22, 6.09, 4.71, 4.97, 8.11, 8.18, 3.31, 3.99, 1.02, 1.21, 2.96, 3.53, 8.05, 6.66, 9.86, 5.75, 8.5, 8.35, 12.56, 12.69, 12.79, 14.45, 9.06, 8.07, 12.59, 12.37, 13.8, 14.77, 14.93, 12.52, 12.97, 9.6, 7.14, 9.92, 9.77, 12.96, 13.22, 11.95, 12.45, 10.93, 9.18, 6.63, 4.89, 5.46, 7.65, 3.67, 3.3, 2.12, 2.22, 3.83, 7.22, 7.6, 7.6, 9.02, 9.64, 10.44, 12.75, 10.33, 11.17, 9.87, 8.47, 7.19, 6.86, 9.23, 7.7, 7.56, 8.22, 8.2, 8.14, 7.77, 6.76, 5.76, 6.83, 6.76, 6.22, 6.55, 5.34, 5.99, 5.58, 6.02, 5.69, 5.58, 6.89, 5.24, 4.39, 4.54, 4.27, 5.82, 8.94, 8.15, 7.87, 9.36, 9.17]]], + "articulation_type": "fridge", + "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": 21, + "task_plan_idx": 83, + "init_config_idx": 84, + "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], [11, "grasped", null], [23, "success", null], [82, "lost_success", null], [83, "success", null], [100, "lost_success", null], [101, "success", null], [105, "lost_success", null], [106, "success", null], [120, "lost_success", null], [121, "success", null], [143, "lost_success", null], [144, "success", null], [173, "lost_success", null], [176, "success", null], [178, "lost_success", null], [179, "success", null], [181, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "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": 22, + "task_plan_idx": 5, + "init_config_idx": 22, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [44, "success", null], [46, "lost_success", null], [48, "success", null], [53, "lost_success", null], [54, "success", null], [179, "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": 22, + "task_plan_idx": 41, + "init_config_idx": 145, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 12], "collision", [193.84, 240.97, 316.99, 225.61, 29.31]], [19, "contact", null], [19, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26, 27, 28], "collision", [12.21, 27.47, 24.93, 10.64, 30.02, 30.13, 30.45, 50.88, 39.23, 14.81]], [47, "success", null], [74, "lost_success", null]], + "articulation_type": "fridge", + "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": 23, + "task_plan_idx": 156, + "init_config_idx": 44, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7], "collision", [391.14]], [18, "contact", null], [18, "grasped", null], [36, "success", null], [77, "lost_success", null], [78, "success", null], [79, "lost_success", null], [80, "success", null], [83, "lost_success", null], [85, "success", null], [[191, 192, 193, 194, 195, 196, 197, 199], "collision", [24.56, 34.7, 51.82, 43.18, 32.58, 26.17, 80.87, 18.77]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 23, + "task_plan_idx": 12, + "init_config_idx": 53, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8], "collision", [255.59, 210.2]], [9, "contact", null], [10, "lost_contact", null], [11, "contact", null], [11, "grasped", null], [22, "success", null], [25, "lost_success", null], [39, "success", null], [49, "lost_success", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [135, "lost_success", null], [136, "success", null], [163, "lost_success", null], [164, "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": 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": 24, + "task_plan_idx": 139, + "init_config_idx": 144, + "spawn_selection_idx": 63, + "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], [54, "lost_success", null], [55, "success", null], [56, "lost_success", null], [58, "success", null], [190, "lost_success", null], [191, "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": 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": 24, + "task_plan_idx": 13, + "init_config_idx": 37, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 15, 17], "collision", [371.32, 141.37, 446.52]], [18, "contact", null], [[18], "collision", [404.43]], [19, "grasped", null], [44, "success", null], [[45, 46, 47, 48, 49, 50], "collision", [24.11, 28.86, 23.5, 21.17, 17.61, 20.97]], [51, "lost_success", null], [[51], "collision", [19.1]], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 68, 69, 70, 71], "collision", [11.45, 14.58, 17.19, 37.98, 24.24, 26.0, 28.24, 28.07, 49.39, 22.16, 20.62, 16.25, 40.02, 33.18, 17.95, 18.15, 14.18, 23.87, 16.59]], [72, "lost_success", null], [73, "success", null], [83, "lost_success", null], [86, "success", null], [[97, 98, 99, 100, 101, 102, 104, 105], "collision", [21.41, 37.79, 38.42, 1.32, 46.51, 24.8, 70.7, 53.41]], [106, "lost_success", null], [[106], "collision", [5.01]], [107, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 51, + "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": [[18, "contact", null], [18, "grasped", null], [39, "success", null], [[48, 49, 50, 51, 52, 53, 54, 55], "collision", [96.74, 231.52, 163.36, 156.39, 200.22, 144.96, 131.79, 82.85]], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [66, "success", null], [70, "lost_success", null], [75, "success", null], [80, "lost_success", null], [88, "success", null], [91, "lost_success", null], [92, "success", null], [98, "lost_success", null], [100, "success", null], [101, "lost_success", null], [103, "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": 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": 25, + "task_plan_idx": 69, + "init_config_idx": 18, + "spawn_selection_idx": 51, + "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], [45, "lost_success", null], [46, "success", null], [48, "lost_success", null], [52, "success", null], [53, "lost_success", null], [55, "success", null], [[55, 57, 58, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72], "collision", [21.02, 19.97, 22.87, 7.34, 5.64, 3.19, 28.49, 32.75, 20.95, 26.22, 37.56, 29.68, 30.34, 57.71]], [188, "lost_success", null], [189, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 36, + "init_config_idx": 7, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[29, 30, 31, 32, 33, 34, 35], "collision", [420.03, 490.07, 792.03, 471.64, 445.76, 333.21, 216.36]], [40, "success", null], [43, "lost_success", null], [45, "success", null], [57, "lost_success", null], [67, "success", null], [68, "lost_success", null], [73, "success", null], [79, "lost_success", null], [80, "success", null], [[90], "collision", [8.77]], [100, "lost_success", null], [101, "success", null], [113, "lost_success", null], [118, "success", null], [122, "lost_success", null], [123, "success", null], [126, "lost_success", null], [129, "success", null], [143, "lost_success", null], [144, "success", null], [161, "lost_success", null], [162, "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": 26, + "task_plan_idx": 168, + "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": [[[7, 8], "collision", [254.14, 328.5]], [11, "contact", null], [11, "grasped", null], [26, "success", null], [133, "lost_success", null], [136, "success", null], [140, "lost_success", null], [141, "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": 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": 26, + "task_plan_idx": 86, + "init_config_idx": 170, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17, 18, 19, 21, 22], "collision", [82.95, 85.79, 92.68, 119.06, 322.28, 1433.23, 253.52]], [27, "contact", null], [27, "grasped", null], [56, "success", null], [58, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [76, "lost_success", null], [77, "success", null], [78, "lost_success", null], [80, "success", null], [81, "lost_success", null], [82, "success", null], [84, "lost_success", null], [87, "success", null], [88, "lost_success", null], [94, "success", null], [103, "lost_success", null], [105, "success", null], [111, "lost_success", null], [113, "success", null], [119, "lost_success", null], [121, "success", null], [144, "lost_success", null], [145, "success", null], [160, "lost_success", null], [161, "success", null], [177, "lost_success", null], [180, "success", null], [192, "lost_success", null], [194, "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": 27, + "task_plan_idx": 41, + "init_config_idx": 148, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16, 17, 19], "collision", [335.76, 260.68, 388.05, 145.07]], [20, "contact", null], [[21, 22, 23], "collision", [130.04, 43.12, 286.97]], [24, "grasped", null], [[24, 25, 26], "collision", [61.65, 51.2, 0.19]], [40, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [[58], "collision", [56.51]], [59, "success", null], [[59], "collision", [26.03]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 27, + "task_plan_idx": 99, + "init_config_idx": 104, + "spawn_selection_idx": 35, + "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", [1686.53, 321.47, 267.0, 160.3, 165.35, 169.15]], [17, "contact", null], [18, "grasped", null], [[19], "collision", [2069.92]], [36, "success", null], [37, "lost_success", null], [39, "success", null], [42, "lost_success", null], [50, "success", null], [53, "lost_success", null], [54, "success", null], [70, "lost_success", null], [73, "success", null], [74, "lost_success", null], [84, "success", null], [101, "lost_success", null], [105, "success", null], [128, "lost_success", null], [134, "success", null], [136, "lost_success", null], [139, "success", null], [141, "lost_success", null], [145, "success", null], [147, "lost_success", null], [154, "success", null], [162, "lost_success", null], [163, "success", null], [165, "lost_success", null], [166, "success", null], [167, "lost_success", null], [168, "success", null], [169, "lost_success", null], [170, "success", null], [171, "lost_success", null], [179, "success", null], [181, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 28, + "task_plan_idx": 72, + "init_config_idx": 143, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3], "collision", [46.0]], [11, "contact", null], [12, "grasped", null], [25, "success", null], [34, "lost_success", null], [35, "success", null], [42, "lost_success", null], [46, "success", null], [48, "lost_success", null], [57, "success", null], [68, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [72, "lost_success", null], [76, "success", null], [127, "lost_success", null], [129, "success", null], [132, "lost_success", null], [133, "success", null], [172, "lost_success", null], [174, "success", null], [178, "lost_success", null], [179, "success", null], [183, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 29, + "task_plan_idx": 69, + "init_config_idx": 72, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6], "collision", [276.74, 217.22, 574.11]], [12, "contact", null], [12, "grasped", null], [26, "success", null], [31, "lost_success", null], [36, "success", null], [37, "lost_success", null], [66, "success", null], [67, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [175, "lost_success", null], [176, "success", null], [184, "lost_success", null], [185, "success", null], [188, "lost_success", null], [189, "success", null], [190, "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": 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": 29, + "task_plan_idx": 115, + "init_config_idx": 24, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [30, "success", null], [[57, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 170, 172, 174, 175, 176, 177, 178, 179, 180, 181, 182, 184, 185, 186, 188, 189, 190, 191], "collision", [26.3, 36.13, 59.94, 50.51, 64.81, 93.8, 79.82, 44.27, 92.49, 109.56, 94.4, 112.08, 20.61, 15.76, 48.64, 67.57, 126.32, 33.32, 32.0, 37.35, 28.33, 35.34, 56.03, 29.71, 43.84, 54.38, 72.07, 117.3, 67.93, 47.98, 48.2, 47.05, 67.28, 111.8, 14.88, 34.92, 32.11, 88.71, 35.8, 21.91, 15.04, 61.82, 57.3, 42.44, 26.62, 19.09, 27.77, 28.57, 45.04, 54.75, 15.84, 13.59, 42.5, 45.18, 21.62, 52.21, 16.66, 39.13, 38.26, 18.13]]], + "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": 30, + "task_plan_idx": 144, + "init_config_idx": 147, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [1110.05]], [17, "contact", null], [17, "grasped", null], [32, "success", null], [46, "lost_success", null], [51, "success", null], [62, "lost_success", null], [63, "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": 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": 30, + "task_plan_idx": 112, + "init_config_idx": 172, + "spawn_selection_idx": 48, + "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", [155.57, 407.19, 213.85, 225.25, 99.45, 35.47]], [14, "contact", null], [14, "grasped", null], [[22, 23], "collision", [234.29, 34.46]], [30, "success", null], [78, "lost_success", null], [79, "success", null], [[188, 190, 191, 192, 193, 194, 195, 197, 198], "collision", [18.78, 52.93, 18.28, 32.28, 19.1, 40.95, 25.63, 22.94, 17.21]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 31, + "task_plan_idx": 34, + "init_config_idx": 83, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [26, "success", null], [38, "lost_success", null], [39, "success", null], [42, "lost_success", null], [48, "success", null], [[48, 49], "collision", [152.29, 116.27]], [50, "lost_success", null], [51, "success", null], [[52], "collision", [70.09]], [53, "lost_success", null], [55, "success", null], [[55, 57], "collision", [107.67, 110.46]], [58, "lost_success", null], [59, "success", null], [[59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 74, 75, 76, 77, 78, 79, 80, 81, 82, 84, 86, 87, 88], "collision", [50.05, 77.04, 85.93, 93.96, 99.7, 82.8, 65.6, 46.06, 37.08, 36.91, 38.77, 41.79, 67.32, 43.85, 88.41, 77.17, 90.74, 73.03, 82.21, 83.76, 12.34, 49.96, 122.6, 11.14, 56.45, 23.68, 33.81]]], + "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": 33, + "task_plan_idx": 134, + "init_config_idx": 103, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 13], "collision", [97.37, 188.39, 158.09, 14.42]], [16, "contact", null], [16, "grasped", null], [[23], "collision", [85.96]], [32, "success", null], [36, "lost_success", null], [37, "success", null], [39, "lost_success", null], [43, "success", null], [[44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 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, 93], "collision", [83.12, 12.66, 13.08, 8.01, 2.41, 5.99, 50.5, 51.74, 31.47, 25.28, 33.21, 38.78, 48.26, 30.2, 28.05, 29.84, 43.59, 43.72, 51.55, 50.82, 39.74, 42.29, 37.1, 30.45, 38.18, 34.36, 39.11, 31.75, 32.17, 30.32, 27.98, 29.47, 44.16, 46.05, 35.7, 45.16, 57.15, 67.78, 56.89, 42.46, 35.97, 32.32, 44.75, 32.39, 34.48, 16.58, 36.65]], [94, "lost_success", null], [95, "success", null], [[95, 96], "collision", [50.77, 6.4]], [103, "lost_success", null], [[103], "collision", [80.34]], [125, "success", null], [126, "lost_success", null], [129, "success", null], [150, "lost_success", null], [154, "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": 33, + "task_plan_idx": 71, + "init_config_idx": 159, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [346.37]], [19, "contact", null], [20, "grasped", null], [40, "success", null], [51, "lost_success", null], [[62], "collision", [35.0]], [71, "success", null], [95, "lost_success", null], [101, "success", null], [104, "lost_success", null], [122, "success", null], [123, "lost_success", null], [124, "success", null], [125, "lost_success", null], [165, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 33, + "task_plan_idx": 143, + "init_config_idx": 80, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [254.26, 221.73, 261.91]], [13, "contact", null], [14, "grasped", null], [28, "success", null], [30, "lost_success", null], [31, "success", null], [40, "lost_success", null], [42, "success", null], [43, "lost_success", null], [45, "success", null], [76, "lost_success", null], [85, "success", null], [87, "lost_success", null], [88, "success", null], [89, "lost_success", null], [91, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 34, + "task_plan_idx": 135, + "init_config_idx": 81, + "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], [68, "success", null], [79, "lost_success", null], [80, "success", null], [82, "lost_success", null], [87, "success", null], [88, "lost_success", null], [99, "success", null], [100, "lost_success", null], [114, "success", null], [119, "lost_success", null], [120, "success", null], [121, "lost_success", null], [123, "success", null], [139, "lost_success", null], [140, "success", null], [142, "lost_success", null], [143, "success", null], [144, "lost_success", null], [146, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 97, + "init_config_idx": 151, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 8, 9, 10, 11, 12], "collision", [1279.75, 244.91, 422.18, 190.63, 202.95, 160.85]], [15, "contact", null], [15, "grasped", null], [54, "success", null], [66, "lost_success", null], [103, "success", null], [107, "lost_success", null], [108, "success", null], [111, "lost_success", null], [112, "success", null], [113, "lost_success", null], [116, "success", null], [118, "lost_success", null], [119, "success", null], [135, "lost_success", null], [171, "success", null], [177, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 35, + "task_plan_idx": 69, + "init_config_idx": 70, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 12], "collision", [815.71, 195.31]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19, 26, 27, 28, 29], "collision", [7.17, 11.83, 2.19, 3.75, 19.85, 38.96, 8.36]], [30, "success", null], [33, "lost_success", null], [34, "success", null], [[48, 49, 50, 51, 52, 53, 54, 55], "collision", [40.58, 44.35, 53.23, 57.0, 60.32, 70.29, 48.79, 69.24]], [56, "lost_success", null], [[56], "collision", [74.99]], [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, 89, 90, 91, 92, 93, 95, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 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", [80.87, 78.51, 93.32, 82.06, 82.06, 84.38, 72.96, 67.27, 70.87, 75.63, 15.76, 20.02, 49.69, 57.56, 64.94, 72.81, 78.23, 70.3, 55.62, 37.53, 37.5, 41.64, 45.27, 56.38, 56.8, 50.06, 43.05, 33.99, 28.86, 11.84, 4.98, 6.45, 4.07, 2.17, 2.52, 3.74, 1.41, 5.46, 2.86, 3.11, 1.02, 1.41, 2.05, 1.85, 1.57, 2.12, 1.5, 2.03, 0.07, 0.65, 0.96, 0.81, 2.75, 9.32, 13.8, 16.81, 25.11, 39.0, 46.34, 57.82, 72.17, 77.9, 60.24, 67.62, 64.62, 64.94, 62.27, 58.79, 47.16, 18.8, 8.19, 1.86, 1.77, 2.13, 1.69, 1.68, 1.38, 2.18, 1.63, 2.08, 2.02, 2.34, 1.73, 1.74, 0.95, 1.81, 1.37, 1.94, 1.96, 1.85, 1.68, 2.25, 0.82, 0.48, 2.03, 1.71, 1.46, 1.4, 1.48, 1.79, 1.13, 1.3, 1.19, 1.49, 1.59, 1.83, 1.45, 1.21, 1.29, 1.16, 1.63, 1.42, 2.45, 2.66, 1.75, 1.53, 1.85, 1.57, 1.3, 2.26, 1.94, 2.18, 2.08, 1.81, 1.38, 1.54, 1.58, 1.34, 1.9, 1.14, 1.44, 1.88, 1.71, 1.68, 1.59, 1.87]]], + "articulation_type": "fridge", + "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": 35, + "task_plan_idx": 72, + "init_config_idx": 137, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15], "collision", [1261.87, 72.29, 25.81]], [18, "contact", null], [18, "grasped", null], [[18], "collision", [554.52]], [39, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [47, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [61, "success", null], [63, "lost_success", null], [[63], "collision", [355.42]], [65, "success", null]], + "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": 35, + "task_plan_idx": 72, + "init_config_idx": 137, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [939.46, 243.04]], [14, "contact", null], [15, "grasped", null], [[15, 16, 17, 18, 19, 20], "collision", [11.2, 1508.71, 15.94, 14.85, 10.55, 32.96]], [30, "success", null], [[34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 58], "collision", [26.49, 43.26, 30.67, 33.65, 22.03, 30.98, 36.38, 24.73, 34.31, 40.22, 34.77, 39.48, 45.12, 35.4, 39.9, 32.87, 37.27, 29.13, 35.08, 34.86, 72.13, 17.08]], [67, "lost_success", null], [75, "success", null]], + "articulation_type": "fridge", + "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": 36, + "task_plan_idx": 92, + "init_config_idx": 75, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 21, 22, 23, 24, 25, 26, 27, 28], "collision", [52.4, 452.17, 110.61, 136.19, 190.98, 57.42, 152.05, 417.22, 137.77]], [29, "contact", null], [[29], "collision", [465.2]], [30, "grasped", null], [[30], "collision", [442.28]], [74, "success", null], [85, "lost_success", null], [107, "success", null], [109, "lost_success", null], [147, "success", null], [160, "lost_success", null], [161, "success", null], [174, "lost_success", null], [176, "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": 36, + "task_plan_idx": 11, + "init_config_idx": 11, + "spawn_selection_idx": 32, + "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, 42, 43], "collision", [6.29, 0.18, 1.82, 0.14]], [45, "success", null], [46, "lost_success", null], [47, "success", null], [85, "lost_success", null], [91, "success", null], [93, "lost_success", null], [102, "success", null], [119, "lost_success", null], [120, "success", null], [177, "lost_success", null], [179, "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": 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": 37, + "task_plan_idx": 38, + "init_config_idx": 119, + "spawn_selection_idx": 44, + "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", [125.06, 119.36, 234.49, 262.89, 219.18, 185.44]], [15, "contact", null], [15, "grasped", null], [47, "success", null], [75, "lost_success", null], [78, "success", null], [142, "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": 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": 38, + "task_plan_idx": 33, + "init_config_idx": 25, + "spawn_selection_idx": 56, + "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", [99.14, 162.28, 2478.63, 123.89, 109.27, 17.92, 108.27]], [18, "contact", null], [18, "grasped", null], [37, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [44, "success", null], [74, "lost_success", null], [75, "success", null], [76, "lost_success", null], [[88, 89, 90, 91], "collision", [123.8, 44.52, 38.08, 50.43]], [92, "success", null], [[92, 93, 94, 95, 96, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 117], "collision", [35.19, 16.34, 7.88, 12.06, 11.89, 10.39, 24.59, 24.35, 17.92, 13.14, 15.29, 8.71, 25.66, 15.21, 23.38, 1.19, 29.67, 29.32]], [156, "lost_success", null], [159, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 38, + "task_plan_idx": 149, + "init_config_idx": 48, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [219.62]], [19, "contact", null], [20, "grasped", null], [43, "success", null], [53, "lost_success", null], [54, "success", null], [57, "lost_success", null], [58, "success", null], [63, "lost_success", null], [64, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [74, "success", null], [90, "lost_success", null], [91, "success", null], [[92, 95, 96, 99, 100], "collision", [523.76, 36.71, 64.8, 80.47, 14.95]], [102, "lost_success", null], [[102], "collision", [1.45]], [103, "success", null], [[103, 104, 105, 106, 107], "collision", [77.11, 72.03, 52.69, 59.81, 92.66]], [108, "lost_success", null], [[108], "collision", [55.4]], [109, "success", null], [[109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129], "collision", [101.68, 115.99, 102.0, 90.07, 88.28, 105.59, 67.41, 63.07, 48.75, 14.53, 42.15, 54.16, 51.94, 28.3, 29.69, 77.74, 37.02, 39.72, 48.65, 14.71, 0.39]], [156, "lost_success", null], [162, "success", null], [163, "lost_success", null], [[182], "collision", [6.43]], [183, "success", null], [184, "lost_success", null], [[184], "collision", [49.02]], [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": 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": 39, + "task_plan_idx": 78, + "init_config_idx": 134, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [838.99]], [12, "contact", null], [12, "grasped", null], [24, "success", null], [32, "lost_success", null], [36, "success", null], [59, "lost_success", null], [61, "success", null], [62, "lost_success", null], [63, "success", null], [66, "lost_success", null], [71, "success", null], [[156, 157, 158, 159, 160], "collision", [23.14, 24.53, 32.28, 15.5, 18.41]], [166, "lost_success", null], [171, "success", null]], + "articulation_type": "fridge", + "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": 39, + "task_plan_idx": 95, + "init_config_idx": 128, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11, 12, 13], "collision", [282.55, 149.96, 157.22, 130.53]], [15, "contact", null], [15, "grasped", null], [[15, 16, 17, 18, 19, 21], "collision", [119.79, 61.35, 51.85, 43.71, 4.07, 0.22]], [31, "success", null], [32, "lost_success", null], [34, "success", null], [76, "lost_success", null], [77, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 39, + "task_plan_idx": 115, + "init_config_idx": 77, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [614.71]], [14, "contact", null], [14, "grasped", null], [[14, 25, 26, 27], "collision", [109.29, 50.23, 31.16, 2.62]], [28, "success", null], [[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, 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, 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", [5.07, 4.77, 6.19, 4.75, 5.17, 5.23, 5.45, 5.76, 6.2, 7.17, 7.03, 7.15, 6.76, 6.73, 6.71, 6.72, 6.53, 6.49, 4.94, 5.24, 6.09, 6.02, 5.54, 5.93, 5.59, 5.13, 4.61, 5.98, 5.43, 4.89, 5.4, 2.6, 1.6, 1.94, 2.14, 2.44, 2.49, 2.78, 2.42, 2.46, 2.55, 2.36, 2.77, 2.68, 2.91, 3.14, 3.3, 3.35, 4.14, 3.58, 3.42, 3.41, 3.39, 3.54, 2.77, 3.23, 2.86, 2.63, 3.51, 3.22, 2.99, 3.12, 2.27, 2.48, 2.67, 2.29, 2.99, 3.23, 3.35, 2.96, 3.01, 3.13, 2.57, 2.64, 2.55, 3.3, 3.05, 3.52, 3.49, 3.3, 3.55, 3.06, 3.32, 2.78, 2.6, 3.41, 2.82, 2.81, 3.08, 4.23, 4.25, 2.84, 3.34, 4.01, 5.22, 4.89, 5.21, 5.29, 4.14, 4.69, 3.62, 4.06, 4.47, 4.32, 5.2, 11.13, 10.13, 15.67, 12.74, 17.01, 16.01, 13.38, 15.57, 23.53, 24.81, 12.41, 9.92, 7.4, 5.38, 4.81, 3.58, 3.09, 3.58, 4.99, 6.72, 7.18, 6.66, 6.96, 6.91, 8.32, 10.7, 10.24, 9.76, 8.74, 9.24, 9.25, 9.68, 9.72, 9.83, 10.84, 12.82, 14.7, 15.68, 13.77, 13.28, 11.19, 12.03, 13.43, 14.93, 14.94, 12.97]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 41, + "task_plan_idx": 133, + "init_config_idx": 71, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [258.54]], [9, "contact", null], [9, "grasped", null], [31, "success", null], [33, "lost_success", null], [34, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 42, + "task_plan_idx": 87, + "init_config_idx": 110, + "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, 16], "collision", [135.23, 193.41, 442.07, 211.43, 166.64]], [18, "contact", null], [[18], "collision", [2222.75]], [19, "grasped", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [46, "lost_success", null], [51, "success", null], [58, "lost_success", null], [62, "success", null], [66, "lost_success", null], [68, "success", null], [70, "lost_success", null], [81, "success", null], [135, "lost_success", null], [136, "success", null], [160, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "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": 42, + "task_plan_idx": 59, + "init_config_idx": 69, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16], "collision", [73.37, 261.93, 209.42, 205.17, 19.86]], [21, "contact", null], [21, "grasped", null], [[21], "collision", [588.67]], [68, "success", null], [86, "lost_success", null], [91, "success", null], [121, "lost_success", null], [123, "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": 42, + "task_plan_idx": 90, + "init_config_idx": 144, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[27, 28], "collision", [144.47, 123.98]], [31, "contact", null], [32, "grasped", null], [[32], "collision", [3248.77]], [102, "success", null], [122, "lost_success", null], [125, "success", null], [143, "lost_success", null], [144, "success", null], [161, "lost_success", null], [166, "success", null], [167, "lost_success", null], [189, "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": 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": 43, + "task_plan_idx": 61, + "init_config_idx": 78, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 21], "collision", [724.61, 29.77, 511.15]], [22, "contact", null], [22, "grasped", null], [41, "success", null], [63, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [116, "lost_success", null], [117, "success", null], [129, "lost_success", null], [131, "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": 43, + "task_plan_idx": 110, + "init_config_idx": 101, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 18, 20, 21, 22, 23], "collision", [146.25, 532.32, 93.75, 127.06, 46.57, 3717.76]], [24, "contact", null], [24, "grasped", null], [54, "success", null], [62, "lost_success", null], [63, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null], [104, "lost_success", null], [108, "success", null], [109, "lost_success", null], [163, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 43, + "task_plan_idx": 45, + "init_config_idx": 74, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [45, "success", null], [51, "lost_success", null], [82, "success", null], [84, "lost_success", null], [87, "success", null], [88, "lost_success", null], [90, "success", null], [110, "lost_success", null], [117, "success", null], [118, "lost_success", null], [124, "success", null], [139, "lost_success", null], [141, "success", null], [142, "lost_success", null], [153, "success", null], [154, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 43, + "task_plan_idx": 105, + "init_config_idx": 72, + "spawn_selection_idx": 94, + "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", [391.29, 179.42, 222.73, 469.55, 655.64, 178.82]], [16, "contact", null], [[16], "collision", [210.45]], [17, "grasped", null], [[17, 18, 20, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "collision", [0.09, 1.24, 3.1, 71.91, 31.49, 14.16, 20.34, 16.16, 16.39, 16.47, 16.0, 16.57, 16.84, 15.8, 15.75, 15.86]], [36, "success", null], [[36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [15.53, 15.55, 15.42, 15.82, 16.04, 15.22, 15.35, 15.6, 15.3, 15.29, 15.39, 16.01, 15.85, 15.65, 15.86, 16.07]], [52, "lost_success", null], [[52], "collision", [16.08]], [53, "success", null], [[53, 54], "collision", [13.8, 13.5]], [55, "lost_success", null], [[55, 56, 57, 58, 59], "collision", [13.6, 13.79, 13.65, 13.5, 13.29]], [60, "success", null], [[60, 61], "collision", [13.72, 13.02]], [62, "lost_success", null], [[62, 63], "collision", [13.7, 13.68]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71], "collision", [13.41, 13.3, 13.13, 14.34, 13.21, 13.41, 13.49, 13.79]], [72, "lost_success", null], [[72], "collision", [13.97]], [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, 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, 194, 195, 196, 197, 198, 199], "collision", [13.27, 13.54, 13.56, 13.75, 13.51, 13.31, 13.59, 13.49, 13.67, 13.28, 13.81, 13.98, 13.6, 13.56, 13.65, 13.62, 13.89, 13.77, 13.98, 13.97, 14.12, 13.87, 13.58, 13.94, 13.88, 13.78, 13.95, 13.93, 13.44, 13.71, 13.76, 13.74, 14.08, 13.63, 13.87, 14.15, 13.76, 13.58, 13.88, 13.7, 14.0, 14.21, 13.85, 13.89, 14.25, 14.25, 14.23, 14.02, 13.98, 14.1, 13.95, 13.8, 14.05, 14.18, 13.75, 14.09, 13.84, 14.3, 14.36, 14.01, 14.4, 14.18, 14.04, 13.99, 14.21, 14.02, 14.01, 14.0, 13.78, 13.88, 13.98, 13.77, 14.28, 14.08, 14.35, 14.47, 13.93, 13.89, 13.99, 14.03, 14.28, 14.08, 14.26, 13.58, 14.1, 13.74, 13.71, 14.12, 13.95, 13.93, 13.67, 14.13, 14.22, 14.01, 13.72, 13.8, 13.77, 14.12, 14.1, 13.87, 14.07, 14.13, 13.8, 13.89, 13.91, 14.22, 14.11, 14.18, 13.85, 14.11, 14.11, 14.05, 14.14, 13.84, 14.28, 14.08, 13.94, 14.26, 14.13, 13.78, 13.89, 13.69, 13.85, 14.15, 13.62, 14.2, 13.97]]], + "articulation_type": "fridge", + "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": 44, + "task_plan_idx": 154, + "init_config_idx": 83, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 14], "collision", [339.0, 21.48]], [21, "contact", null], [24, "lost_contact", null], [25, "contact", null], [25, "grasped", null], [[46], "collision", [712.52]], [47, "success", null], [[50], "collision", [27.68]], [87, "lost_success", null], [88, "success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 106, 107, 108, 109, 110], "collision", [56.89, 27.13, 45.38, 63.44, 60.56, 83.59, 84.31, 82.77, 95.84, 65.54, 52.81, 105.56, 75.42, 34.13, 6.06, 16.0, 23.8, 31.63, 17.65, 15.87]], [120, "lost_success", null], [123, "success", null], [124, "lost_success", null], [125, "success", null], [126, "lost_success", null], [127, "success", null], [[134, 136, 137, 138, 139, 140, 141], "collision", [13.41, 5.71, 6.94, 10.52, 7.23, 10.27, 8.12]], [142, "lost_success", null], [[142], "collision", [9.71]], [143, "success", null], [[143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 165, 166, 167, 168, 170, 171, 173, 174, 180, 187], "collision", [20.98, 42.85, 77.9, 69.1, 59.29, 27.43, 15.32, 24.63, 10.5, 21.77, 17.03, 21.22, 30.91, 37.95, 21.49, 15.63, 14.17, 22.85, 13.47, 18.0, 9.07, 3.1, 15.67, 2.14, 21.92, 2.98, 10.97, 5.6, 1.59, 241.58, 26.61]], [188, "lost_success", null], [189, "success", null], [[196, 197, 198, 199], "collision", [16.09, 13.76, 8.15, 4.49]]], + "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": 45, + "task_plan_idx": 106, + "init_config_idx": 5, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 20], "collision", [319.51, 101.77]], [22, "contact", null], [22, "grasped", null], [41, "success", null], [[44, 45, 46, 47, 48], "collision", [169.93, 74.16, 63.64, 41.73, 37.96]], [50, "lost_success", null], [51, "success", null], [63, "lost_success", null], [67, "success", null], [74, "lost_success", null], [89, "success", null], [91, "lost_success", null], [95, "success", null], [99, "lost_success", null], [104, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [109, "lost_success", null], [116, "success", null], [118, "lost_success", null], [119, "success", null], [120, "lost_success", null], [121, "success", null], [123, "lost_success", null], [124, "success", null], [125, "lost_success", null], [126, "success", null], [128, "lost_success", null], [129, "success", null], [130, "lost_success", null], [131, "success", null], [133, "lost_success", null], [135, "success", null], [138, "lost_success", null], [139, "success", null], [146, "lost_success", null], [147, "success", null], [153, "lost_success", null], [154, "success", null], [156, "lost_success", null], [157, "success", null], [163, "lost_success", null], [164, "success", null], [166, "lost_success", null], [167, "success", null], [174, "lost_success", null], [175, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 45, + "task_plan_idx": 19, + "init_config_idx": 32, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 14, 15, 16], "collision", [462.94, 913.46, 501.3, 274.46, 237.2]], [20, "contact", null], [20, "grasped", null], [[21, 22, 23], "collision", [335.36, 161.13, 92.37]], [48, "success", null], [49, "lost_success", null], [71, "success", null], [77, "lost_success", null], [78, "success", null], [79, "lost_success", null], [83, "success", null], [87, "lost_success", null], [88, "success", null], [102, "lost_success", null], [103, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [126, "lost_success", null], [132, "success", null], [133, "lost_success", null], [134, "success", null], [139, "lost_success", null], [140, "success", null], [162, "lost_success", null], [164, "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": 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": 46, + "task_plan_idx": 119, + "init_config_idx": 132, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 15], "collision", [175.01, 348.92, 79.05]], [16, "contact", null], [16, "grasped", null], [[19], "collision", [1.49]], [41, "success", null], [44, "lost_success", null], [47, "success", null], [55, "lost_success", null], [56, "success", null], [59, "lost_success", null], [82, "success", null], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [91, "success", null], [94, "lost_success", null], [95, "success", null], [108, "lost_success", null], [114, "success", null], [150, "lost_success", null], [151, "success", null], [162, "lost_success", null], [163, "success", null], [180, "lost_success", null], [181, "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": 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": 47, + "task_plan_idx": 115, + "init_config_idx": 102, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[28, "contact", null], [28, "grasped", null], [[57, 58, 59, 60, 61, 62, 63, 64], "collision", [48.51, 30.67, 50.5, 50.22, 61.28, 62.02, 54.22, 53.86]], [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, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146], "collision", [51.67, 89.31, 85.57, 105.5, 87.04, 96.73, 88.83, 84.06, 71.46, 64.7, 111.99, 89.89, 103.26, 98.45, 90.89, 80.57, 81.99, 88.45, 80.51, 80.25, 81.51, 78.43, 75.69, 76.12, 75.57, 75.75, 87.29, 76.07, 71.25, 58.88, 50.91, 47.55, 45.1, 42.09, 22.8, 42.46, 37.47, 34.68, 33.4, 28.04, 19.28, 15.86, 8.3, 3.07, 3.48, 0.54, 2.88, 0.87, 3.12, 4.33, 8.29, 7.93, 9.05, 8.16, 7.7, 8.34, 7.8, 9.24, 8.48, 6.75, 7.76, 8.39, 7.8, 7.67]], [147, "lost_success", null], [[147], "collision", [8.88]], [148, "success", null], [[148], "collision", [8.42]], [149, "lost_success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157, 158], "collision", [9.66, 9.16, 8.62, 10.06, 9.83, 11.09, 12.21, 11.94, 39.23, 19.03]], [159, "success", null], [[159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169], "collision", [10.78, 21.62, 29.02, 26.78, 20.18, 16.43, 15.85, 21.64, 15.86, 47.19, 32.17]], [170, "lost_success", null], [[170, 171, 172, 173, 174, 175, 176, 177], "collision", [7.12, 7.04, 7.39, 7.31, 6.41, 6.21, 6.97, 7.09]], [178, "success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192], "collision", [6.93, 7.23, 7.27, 7.21, 7.15, 6.98, 6.78, 7.01, 7.11, 7.01, 6.53, 7.35, 6.96, 7.28, 7.24]], [193, "lost_success", null], [[193], "collision", [7.63]], [194, "success", null], [[194, 195, 196, 197, 198, 199], "collision", [7.57, 7.92, 7.82, 8.74, 7.93, 7.72]]], + "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": 48, + "task_plan_idx": 130, + "init_config_idx": 36, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6], "collision", [64.8]], [10, "contact", null], [11, "grasped", null], [25, "success", null], [41, "lost_success", null], [42, "success", null], [44, "lost_success", null], [45, "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": 48, + "task_plan_idx": 67, + "init_config_idx": 66, + "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", [146.52, 248.8]], [13, "contact", null], [13, "grasped", null], [[14, 19], "collision", [40.15, 31.91]], [25, "success", null], [26, "lost_success", null], [29, "success", null], [[29, 31, 32], "collision", [0.02, 0.02, 136.37]], [33, "lost_success", null], [34, "success", null], [35, "lost_success", null], [44, "success", null], [61, "lost_success", null], [62, "success", null], [79, "lost_success", null], [80, "success", null], [90, "lost_success", null], [95, "success", null], [104, "lost_success", null], [107, "success", null], [[114, 115, 116], "collision", [19.95, 23.78, 4.29]], [119, "lost_success", null], [120, "success", null], [121, "lost_success", null], [126, "success", null], [133, "lost_success", null], [140, "success", null], [141, "lost_success", null], [150, "success", null], [151, "lost_success", null], [152, "success", null], [153, "lost_success", null], [167, "success", null], [169, "lost_success", null], [170, "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": 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": 49, + "task_plan_idx": 67, + "init_config_idx": 118, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[1, 14], "collision", [149.72, 24.49]], [15, "contact", null], [15, "grasped", null], [[16, 17, 22], "collision", [0.43, 17.87, 0.52]], [35, "success", null], [37, "lost_success", null], [39, "success", null], [57, "lost_success", null], [64, "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], "collision", [256.89, 37.56, 42.45, 50.79, 67.5, 48.32, 25.44, 34.7, 46.2, 39.35, 25.94, 30.36, 32.18, 33.35, 44.78, 56.96, 46.54, 48.01, 45.38, 37.26, 32.26, 19.64, 50.83, 52.15, 40.7, 76.64, 46.8, 38.77, 41.69]], [99, "lost_success", null], [[99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [50.06, 37.34, 54.26, 64.45, 60.88, 37.0, 52.88, 41.05, 16.24]], [108, "success", null], [[108], "collision", [16.71]], [116, "lost_success", null], [120, "success", null], [126, "lost_success", null], [130, "success", null], [131, "lost_success", null], [132, "success", null], [134, "lost_success", null], [135, "success", null], [153, "lost_success", null], [154, "success", null], [155, "lost_success", null], [[155, 156, 157, 158, 160, 161, 162], "collision", [9.85, 21.53, 92.72, 103.3, 44.84, 21.92, 12.89]], [163, "success", null], [[163, 164, 165], "collision", [39.35, 25.13, 26.38]], [167, "lost_success", null], [168, "success", null], [170, "lost_success", null], [171, "success", null], [[185, 188, 189], "collision", [87.23, 18.88, 9.22]]], + "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": 50, + "task_plan_idx": 17, + "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": [[[8], "collision", [428.77]], [16, "contact", null], [16, "grasped", null], [[16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33], "collision", [1.54, 3.32, 3.61, 4.0, 3.95, 3.93, 3.94, 3.94, 3.93, 3.94, 3.94, 3.95, 3.93, 3.95, 3.96, 3.93, 3.94, 3.96]], [34, "success", null], [[34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48], "collision", [3.92, 3.91, 3.92, 3.93, 3.94, 3.9, 3.99, 3.93, 3.97, 3.93, 3.96, 3.97, 3.97, 3.91, 3.99]], [49, "lost_success", null], [[49], "collision", [3.92]], [50, "success", null], [[50, 51], "collision", [3.95, 3.92]], [52, "lost_success", null], [[52], "collision", [3.92]], [53, "success", null], [[53, 54, 55, 56], "collision", [3.92, 3.97, 3.96, 3.92]], [57, "lost_success", null], [[57], "collision", [3.96]], [58, "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], "collision", [3.9, 3.96, 3.91, 3.96, 3.9, 3.96, 3.95, 3.9, 3.92, 3.98, 3.97, 3.98, 3.94, 3.92, 3.96, 3.96, 3.97, 3.94, 3.93, 3.95, 3.96, 3.94, 3.99, 3.94, 3.97, 3.96, 3.95, 3.94, 3.95, 3.98, 3.97, 3.97, 3.91, 3.95, 3.98, 3.97, 3.99, 3.93, 3.97]], [97, "lost_success", null], [[97], "collision", [3.94]], [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], "collision", [3.93, 3.96, 3.91, 3.96, 3.95, 3.93, 3.94, 3.94, 3.93, 3.97, 3.96, 3.95, 3.95, 3.94, 3.97, 3.93, 3.91, 3.96, 3.95, 3.93, 3.94, 3.93, 3.93, 3.96, 3.92, 3.96, 3.92]], [125, "lost_success", null], [[125, 126, 127, 128, 129], "collision", [3.9, 3.92, 3.9, 3.94, 3.96]], [130, "success", null], [[130, 131, 132, 133, 134, 135], "collision", [3.98, 4.04, 3.91, 3.92, 3.98, 3.96]], [136, "lost_success", null], [[136, 137, 138, 139, 140, 141], "collision", [3.91, 3.95, 3.98, 3.98, 3.94, 3.98]], [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, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.94, 3.91, 3.97, 3.94, 3.94, 3.99, 3.94, 3.96, 3.91, 3.96, 3.92, 3.96, 3.92, 3.91, 3.91, 3.98, 3.91, 3.91, 3.97, 3.97, 3.96, 3.96, 3.91, 3.97, 3.95, 3.96, 3.96, 3.94, 3.96, 3.96, 3.95, 3.96, 3.95, 3.97, 3.92, 3.94, 3.96, 3.93, 3.95, 3.92, 3.91, 3.98, 3.94, 3.97, 3.91, 3.96, 3.91, 3.97, 3.98, 3.94, 3.95, 3.97, 3.92, 3.96, 3.92, 3.96, 3.97, 3.91]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 105, + "init_config_idx": 1, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [238.94]], [12, "contact", null], [21, "grasped", null], [29, "success", null], [30, "lost_success", null], [31, "success", null], [32, "lost_success", null], [36, "success", null], [139, "lost_success", null], [140, "success", null], [141, "lost_success", null], [143, "success", null], [161, "lost_success", null], [[176, 177, 178], "collision", [13.84, 14.41, 14.01]], [179, "success", null], [[179, 180], "collision", [14.52, 14.81]], [181, "lost_success", null], [[181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191], "collision", [14.84, 13.81, 14.75, 14.17, 15.0, 14.71, 14.57, 14.71, 14.75, 14.59, 14.8]], [192, "success", null], [[192, 193], "collision", [14.98, 14.67]], [194, "lost_success", null], [[194], "collision", [14.86]], [195, "success", null], [[195], "collision", [14.77]], [196, "lost_success", null], [[196, 197, 198, 199], "collision", [14.52, 14.95, 14.74, 14.9]]], + "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": 50, + "task_plan_idx": 80, + "init_config_idx": 15, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 10, 12, 13, 14, 15], "collision", [555.05, 262.01, 264.15, 432.47, 226.79, 200.59]], [18, "contact", null], [18, "grasped", null], [37, "success", null], [40, "lost_success", null], [42, "success", null], [43, "lost_success", null], [83, "success", null], [125, "lost_success", null], [167, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 51, + "task_plan_idx": 121, + "init_config_idx": 58, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 16, 17], "collision", [125.3, 232.9, 276.45, 205.73, 255.21, 257.23]], [20, "contact", null], [[22], "collision", [337.69]], [23, "grasped", null], [[23], "collision", [303.45]], [41, "success", null], [42, "lost_success", null], [44, "success", null], [45, "lost_success", null], [[46, 47], "collision", [42.98, 20.63]], [68, "success", null], [69, "lost_success", null], [74, "success", null], [77, "lost_success", null], [80, "success", null], [82, "lost_success", null], [105, "success", null], [111, "lost_success", null], [117, "success", null], [148, "lost_success", null], [149, "success", null], [157, "lost_success", null], [[182, 183], "collision", [137.82, 60.55]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 51, + "task_plan_idx": 67, + "init_config_idx": 44, + "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], [[33, 35, 36, 37, 38, 39, 40, 41, 42, 43], "collision", [23.64, 112.51, 79.14, 67.54, 81.19, 94.63, 103.38, 121.74, 88.04, 56.65]], [53, "success", null], [60, "lost_success", null], [67, "success", null], [72, "lost_success", null], [75, "success", null], [104, "lost_success", null], [105, "success", null], [107, "lost_success", null], [110, "success", null], [119, "lost_success", null], [140, "success", null], [145, "lost_success", null], [146, "success", null], [149, "lost_success", null], [152, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [161, "lost_success", null], [166, "success", null], [170, "lost_success", null], [173, "success", null], [180, "lost_success", null], [182, "success", null], [183, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 52, + "task_plan_idx": 47, + "init_config_idx": 132, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [78.3, 73.92, 43.1, 35.35, 40.07, 27.63, 24.45, 5.09, 2.18, 2.86, 1.71, 2.84, 3.84, 2.89, 2.65, 2.21, 1.96, 3.0, 2.32]], [37, "success", null], [[37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [2.12, 2.72, 2.51, 1.26, 1.17, 0.41, 1.31, 1.33, 1.15, 1.92, 1.22, 2.24, 0.59, 0.46, 0.49, 1.41, 0.31, 1.81]], [55, "lost_success", null], [[55], "collision", [1.51]], [56, "success", null], [[56, 57], "collision", [1.93, 2.29]], [58, "lost_success", null], [[58, 59], "collision", [2.33, 2.57]], [60, "success", null], [[60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [1.72, 2.77, 2.39, 2.38, 2.99, 2.64, 2.22, 1.78, 2.27, 1.02, 3.45, 2.92, 3.53, 3.79, 2.59, 2.55, 2.84, 2.64]], [78, "lost_success", null], [[78, 79], "collision", [2.95, 4.45]], [80, "success", null], [[80, 81, 82], "collision", [3.56, 4.58, 4.3]], [83, "lost_success", null], [[83, 84, 85], "collision", [2.64, 3.37, 4.48]], [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, 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", [4.39, 5.61, 3.21, 3.3, 3.94, 1.94, 3.08, 2.88, 4.21, 4.11, 3.66, 3.89, 2.5, 3.16, 2.55, 3.2, 3.27, 1.41, 2.34, 3.42, 2.1, 1.61, 1.41, 1.66, 3.65, 1.82, 3.24, 3.76, 3.48, 3.12, 2.78, 4.07, 4.45, 2.65, 2.95, 3.93, 4.96, 2.88, 3.04, 3.21, 2.27, 2.07, 2.6, 2.21, 2.38, 2.3, 2.28, 1.59, 3.72, 1.45, 1.65, 2.41, 1.15, 2.81, 3.23, 3.19, 3.72, 3.55, 3.28, 4.21, 3.01, 4.11, 4.15, 2.45, 3.49, 3.2, 2.8, 2.99, 3.85, 3.96, 3.26, 3.91, 4.67, 3.47, 3.3, 2.3, 2.16, 3.3, 1.74, 1.48, 3.68, 3.92, 4.79, 3.02, 3.19, 3.13, 2.03, 1.83, 1.07, 1.37, 3.1, 2.09, 2.63, 2.23, 3.35, 1.57, 2.06, 2.85, 2.22, 2.13, 3.37, 3.36, 4.09, 2.67, 4.27, 3.37, 2.85, 2.63, 3.55, 4.25, 2.23, 2.02, 1.83, 2.51]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 52, + "task_plan_idx": 124, + "init_config_idx": 115, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 4, 6, 7, 10, 11], "collision", [168.69, 168.07, 76.76, 84.86, 32.21, 20.94, 52.55]], [14, "contact", null], [14, "grasped", null], [32, "success", null], [51, "lost_success", null], [53, "success", null], [55, "lost_success", null], [56, "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": 52, + "task_plan_idx": 123, + "init_config_idx": 112, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [30, "success", null], [32, "lost_success", null], [[32, 33, 34, 35, 36, 37, 38, 39], "collision", [84.5, 109.54, 143.48, 136.18, 143.41, 129.75, 129.09, 123.69]], [40, "success", null], [[40], "collision", [139.15]], [41, "lost_success", null], [[41], "collision", [145.89]], [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, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81], "collision", [88.85, 72.48, 63.92, 73.6, 75.97, 71.11, 83.78, 96.94, 83.28, 90.33, 86.91, 59.46, 62.94, 62.33, 41.47, 30.1, 17.69, 14.58, 14.03, 14.14, 15.02, 15.73, 16.26, 16.64, 16.58, 44.33, 50.28, 36.95, 33.1, 23.02, 36.17, 57.46, 63.49, 40.1, 43.37, 46.17, 61.94, 61.88, 66.86, 74.38]], [82, "lost_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, 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], "collision", [65.17, 47.63, 32.63, 12.93, 8.55, 7.86, 7.24, 140.65, 130.73, 101.95, 50.48, 8.55, 6.75, 59.16, 28.57, 24.96, 9.76, 6.68, 6.61, 6.06, 5.35, 6.77, 5.85, 2.82, 4.99, 5.47, 5.05, 7.0, 5.6, 4.16, 4.23, 3.16, 4.21, 3.3, 3.8, 5.16, 4.15, 4.43, 6.69, 5.45, 7.66, 6.54, 5.66, 4.78, 5.62, 5.49, 4.42, 5.05, 5.46, 5.74, 5.62, 5.55, 5.37, 5.63, 4.98, 5.26, 6.0, 5.14, 4.88, 5.05, 5.8, 4.85, 6.64, 4.32, 5.29]], [147, "success", null], [[147, 148], "collision", [6.13, 6.32]], [149, "lost_success", null], [[149, 150, 151, 152], "collision", [5.3, 5.73, 6.66, 6.29]], [153, "success", null], [[153, 154], "collision", [6.0, 6.65]], [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], "collision", [6.51, 6.59, 5.93, 6.65, 6.66, 6.11, 6.13, 6.53, 6.3, 6.9, 6.95, 7.02, 7.14, 6.72, 6.39, 6.43, 6.96, 6.69, 6.57, 7.13, 6.99, 6.63, 6.68, 6.78, 6.23, 6.71, 6.81, 6.54]], [183, "success", null], [[183], "collision", [6.49]], [184, "lost_success", null], [[184], "collision", [6.68]], [185, "success", null], [[185, 186, 187, 188], "collision", [6.15, 6.73, 6.61, 6.69]], [189, "lost_success", null], [[189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [6.67, 6.42, 6.07, 7.07, 6.39, 6.61, 6.69, 6.03, 6.37, 7.05, 7.31]]], + "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": 53, + "task_plan_idx": 110, + "init_config_idx": 42, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 13], "collision", [189.83, 93.4, 96.65, 2618.1, 227.65]], [14, "contact", null], [16, "grasped", null], [32, "success", null], [[40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50], "collision", [39.62, 55.58, 57.3, 12.67, 40.61, 24.43, 33.29, 16.5, 38.51, 33.46, 19.91]], [52, "lost_success", null], [53, "success", null], [54, "lost_success", null], [55, "success", null], [92, "lost_success", null], [110, "success", null], [113, "lost_success", null], [115, "success", null], [120, "lost_success", null], [123, "success", null], [127, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [166, "success", null], [167, "lost_success", null], [170, "success", null], [171, "lost_success", null], [172, "success", null], [182, "lost_success", null], [184, "success", null], [185, "lost_success", null], [191, "success", null], [197, "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": 53, + "task_plan_idx": 90, + "init_config_idx": 135, + "spawn_selection_idx": 24, + "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], "collision", [53.53]], [35, "success", null], [[35, 36], "collision", [106.6, 77.01]], [37, "lost_success", null], [[37, 38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [96.91, 135.25, 105.34, 104.96, 146.97, 186.33, 159.52, 170.75, 171.77, 177.29]], [47, "success", null], [[47], "collision", [159.18]], [48, "lost_success", null], [[48], "collision", [164.04]], [49, "success", null], [[49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 78], "collision", [137.97, 132.63, 69.03, 11.48, 14.74, 22.42, 7.59, 11.97, 7.76, 8.98, 10.98, 9.59, 6.04, 6.53, 9.66, 11.98, 10.55, 10.37, 9.93, 11.25, 14.49, 9.69, 6.65, 3.35, 1.6]], [99, "lost_success", null], [100, "success", null], [101, "lost_success", null], [102, "success", null], [105, "lost_success", null], [107, "success", null], [153, "lost_success", null], [154, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 54, + "task_plan_idx": 44, + "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": [[20, "contact", null], [20, "grasped", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [58, "lost_success", null], [74, "success", null], [95, "lost_success", null], [106, "success", null], [128, "lost_success", null], [129, "success", null], [176, "lost_success", null], [[185, 186, 189, 190], "collision", [34.86, 2.07, 2.04, 50.66]], [191, "success", null], [[191, 192, 193, 194, 195, 196, 197], "collision", [101.96, 65.25, 74.19, 69.92, 88.01, 82.05, 89.61]], [198, "lost_success", null], [[198, 199], "collision", [64.59, 73.92]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 54, + "task_plan_idx": 1, + "init_config_idx": 29, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 14, 15, 17], "collision", [376.93, 120.7, 389.28, 514.58, 482.33]], [22, "contact", null], [22, "grasped", null], [49, "success", null], [51, "lost_success", null], [52, "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": 55, + "task_plan_idx": 7, + "init_config_idx": 50, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 11, 12, 13], "collision", [1414.21, 830.57, 215.82, 162.52]], [17, "contact", null], [17, "grasped", null], [[24, 25], "collision", [50.32, 36.56]], [37, "success", null], [38, "lost_success", null], [39, "success", null], [40, "lost_success", null], [46, "success", null], [[55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67], "collision", [146.82, 43.3, 47.32, 50.71, 51.44, 57.19, 45.91, 65.18, 57.98, 50.77, 6.73, 13.97, 26.44]], [68, "lost_success", null], [[68, 69], "collision", [20.95, 47.83]], [70, "success", null], [[70, 71, 72, 73], "collision", [38.51, 20.78, 17.03, 17.24]], [142, "lost_success", null], [143, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 55, + "task_plan_idx": 135, + "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": [[[14, 16, 18, 20], "collision", [1983.18, 165.56, 162.05, 28.72]], [21, "contact", null], [21, "grasped", null], [[34, 35, 36], "collision", [14.26, 841.54, 10.34]], [41, "success", null], [42, "lost_success", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [[51, 53], "collision", [34.56, 71.36]], [55, "lost_success", null], [[55], "collision", [24.17]], [57, "success", null], [58, "lost_success", null], [62, "success", null], [63, "lost_success", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [70, "success", null], [74, "lost_success", null], [75, "success", null], [77, "lost_success", null], [83, "success", null], [84, "lost_success", null], [95, "success", null], [105, "lost_success", null], [115, "success", null], [116, "lost_success", null], [127, "success", null], [133, "lost_success", null], [139, "success", null], [149, "lost_success", null], [155, "success", null], [160, "lost_success", null], [166, "success", null], [167, "lost_success", null], [168, "success", null], [173, "lost_success", null], [174, "success", null], [176, "lost_success", null], [177, "success", null], [184, "lost_success", null], [197, "success", null], [198, "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": 56, + "task_plan_idx": 94, + "init_config_idx": 33, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 19, 21], "collision", [19.64, 214.98, 135.42]], [22, "contact", null], [[22, 24], "collision", [204.62, 245.68]], [25, "lost_contact", null], [[25], "collision", [227.88]], [26, "contact", null], [[26], "collision", [228.26]], [27, "grasped", null], [[27, 28, 29, 30], "collision", [8.41, 24.06, 22.3, 33.81]], [49, "success", null], [50, "lost_success", null], [51, "success", null], [72, "lost_success", null], [74, "success", null], [81, "lost_success", null], [[106, 108], "collision", [632.34, 232.5]], [110, "success", null], [112, "lost_success", null], [134, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 56, + "task_plan_idx": 12, + "init_config_idx": 121, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11, 12, 13], "collision", [134.2, 223.86, 279.96, 247.33]], [18, "contact", null], [18, "grasped", null], [[20], "collision", [0.1]], [44, "success", null], [49, "lost_success", null], [50, "success", null], [53, "lost_success", null], [54, "success", null], [56, "lost_success", null], [57, "success", null], [68, "lost_success", null], [69, "success", null], [83, "lost_success", null], [88, "success", null], [[94, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [1003.3, 246.85, 139.27, 0.28, 113.76, 180.52, 170.95, 103.85, 41.19, 58.91, 80.93, 105.4, 51.41, 52.16, 30.11]], [124, "lost_success", null], [126, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 56, + "task_plan_idx": 38, + "init_config_idx": 67, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 8, 9, 10, 11], "collision", [439.89, 66.86, 157.66, 500.46, 15.22]], [13, "contact", null], [13, "grasped", null], [24, "success", null], [25, "lost_success", null], [30, "success", null], [32, "lost_success", null], [33, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [57, "success", null], [58, "lost_success", null], [61, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [65, "success", null], [66, "lost_success", null], [71, "success", null], [120, "lost_success", null], [130, "success", null], [[188, 189, 192, 193, 196, 197, 199], "collision", [19.76, 20.84, 20.79, 20.07, 44.71, 3.15, 26.62]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 57, + "task_plan_idx": 91, + "init_config_idx": 131, + "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, 29], "collision", [555.32, 458.08, 200.47, 121.77, 535.57]], [31, "contact", null], [31, "grasped", null], [71, "success", null], [[74, 76, 77], "collision", [49.98, 25.76, 1.15]], [78, "lost_success", null], [[78], "collision", [15.62]], [79, "success", null], [[79, 80, 81], "collision", [29.9, 17.87, 18.34]], [82, "lost_success", null], [[82], "collision", [0.9]], [83, "success", null], [[85, 86, 87, 88], "collision", [8.92, 20.13, 20.35, 33.0]], [89, "lost_success", null], [[89], "collision", [34.78]], [90, "success", null], [[90, 91, 92, 93, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 164, 165, 166, 167, 168, 170, 171, 172, 173, 174, 175, 176, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 193, 195, 196, 197, 198, 199], "collision", [44.6, 45.68, 33.5, 21.15, 17.68, 32.2, 44.78, 36.47, 39.23, 44.36, 48.58, 54.63, 43.76, 32.08, 27.89, 19.86, 23.12, 39.67, 38.73, 23.19, 24.66, 18.23, 2.49, 9.74, 40.84, 19.75, 7.13, 6.61, 9.37, 7.57, 11.3, 10.03, 18.58, 13.14, 10.91, 20.22, 22.96, 17.2, 21.13, 17.81, 14.39, 18.19, 13.91, 11.43, 11.79, 9.07, 10.02, 5.91, 9.23, 12.3, 11.92, 20.53, 9.96, 6.17, 14.21, 2.45, 9.25, 10.27, 9.22, 10.4, 9.86, 7.07, 3.7, 5.5, 13.25, 9.73, 5.51, 7.49, 8.58, 4.67, 14.09, 13.33, 12.98, 12.09, 15.3]]], + "articulation_type": "fridge", + "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": 58, + "task_plan_idx": 133, + "init_config_idx": 15, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9, 10, 11], "collision", [268.11, 131.23, 277.96, 240.67, 217.92, 242.12, 164.89]], [15, "contact", null], [17, "grasped", null], [49, "success", null], [50, "lost_success", null], [95, "success", null], [100, "lost_success", null], [101, "success", null], [103, "lost_success", null], [104, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 44, + "init_config_idx": 136, + "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], [23, "grasped", null], [[36, 37, 38, 39, 40, 41, 42, 43], "collision", [32.32, 42.12, 67.57, 38.81, 43.04, 34.6, 23.53, 45.32]], [44, "success", null], [[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, 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, 194, 195, 196, 197, 198, 199], "collision", [25.96, 32.45, 40.15, 42.42, 79.0, 75.1, 50.97, 45.29, 50.91, 53.42, 45.16, 32.29, 32.57, 31.25, 28.02, 23.28, 21.99, 21.46, 15.94, 4.85, 8.04, 9.29, 6.73, 11.38, 13.5, 12.31, 8.9, 8.69, 9.24, 8.89, 9.68, 9.9, 11.62, 11.28, 11.24, 10.81, 10.74, 11.35, 11.16, 12.43, 11.26, 14.25, 12.71, 8.98, 8.71, 9.05, 10.71, 9.94, 10.61, 10.97, 10.2, 10.05, 10.25, 10.75, 9.85, 12.76, 11.1, 11.09, 11.16, 12.96, 12.69, 11.78, 8.49, 9.75, 10.25, 11.36, 12.3, 12.64, 12.4, 13.37, 13.46, 12.81, 11.81, 13.25, 11.93, 11.29, 13.33, 14.9, 12.24, 13.69, 13.09, 13.02, 11.88, 12.35, 11.41, 10.81, 10.87, 11.59, 11.38, 10.09, 7.97, 8.92, 9.84, 10.92, 10.41, 12.08, 11.69, 10.81, 11.29, 10.95, 10.86, 8.02, 9.04, 11.4, 10.53, 10.29, 11.34, 11.91, 12.87, 10.55, 12.89, 10.48, 9.93, 8.81, 7.85, 9.51, 12.59, 11.96, 10.32, 11.81, 9.5, 10.31, 12.68, 11.15, 10.35, 9.09, 9.06, 10.6, 11.35, 11.57, 11.54, 11.86, 11.1, 11.48, 11.55, 11.26, 10.37, 11.13, 9.76, 11.04, 11.97, 10.39, 10.25, 12.07, 11.0, 9.66, 10.25, 10.74, 10.91, 8.58, 8.97, 10.37, 9.5, 8.92, 9.57, 9.64]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 59, + "task_plan_idx": 13, + "init_config_idx": 44, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5], "collision", [186.54]], [19, "contact", null], [19, "grasped", null], [31, "success", null], [32, "lost_success", null], [43, "success", null], [104, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [[108, 111, 112, 113, 114, 115, 116, 117, 118, 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", [8.97, 1.18, 2.83, 7.11, 9.57, 8.36, 12.16, 1.18, 2.79, 0.01, 5.79, 8.45, 18.72, 38.09, 55.15, 51.57, 61.85, 60.04, 48.98, 32.23, 36.85, 44.71, 44.74, 51.24, 56.45, 57.92, 55.21, 72.7, 60.9, 62.02, 50.3, 20.84, 21.77]], [146, "lost_success", null], [[146, 147, 148, 149, 150, 151, 152, 153, 154], "collision", [25.09, 23.91, 25.14, 8.9, 7.41, 6.03, 0.14, 0.32, 0.18]], [156, "success", null], [[156, 157, 158, 159, 160, 161, 162, 165, 166, 167, 168], "collision", [0.14, 0.01, 0.26, 0.03, 0.11, 0.11, 0.17, 0.02, 0.03, 0.12, 0.02]], [169, "lost_success", null], [[169], "collision", [0.23]], [170, "success", null], [[170], "collision", [0.04]], [171, "lost_success", null], [172, "success", null], [[172], "collision", [0.04]], [173, "lost_success", null], [174, "success", null], [[174, 175, 176, 177, 178, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 194, 196, 197, 199], "collision", [0.17, 0.11, 0.16, 0.01, 0.06, 0.15, 0.24, 0.07, 0.17, 0.09, 0.17, 0.15, 0.18, 0.07, 0.02, 0.09, 0.03, 0.09, 0.03, 0.19, 0.14, 0.14]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 60, + "task_plan_idx": 74, + "init_config_idx": 97, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [[29], "collision", [6.81]], [40, "success", null], [41, "lost_success", null], [[41], "collision", [10.99]], [42, "success", null], [[42, 43, 44, 45, 46], "collision", [79.14, 38.49, 37.08, 20.65, 22.52]], [47, "lost_success", null], [[47, 48], "collision", [18.64, 25.79]], [49, "success", null], [[49, 50, 51, 52, 53, 54, 55, 57, 58], "collision", [25.71, 27.16, 18.81, 15.59, 14.17, 18.85, 14.81, 6.41, 5.89]], [84, "lost_success", null], [86, "success", null], [95, "lost_success", null], [102, "success", null], [111, "lost_success", null], [112, "success", null], [120, "lost_success", null], [121, "success", null], [150, "lost_success", null], [155, "success", null], [161, "lost_success", null], [162, "success", null], [[174, 175, 176, 177, 178, 179], "collision", [7.25, 26.56, 61.33, 71.07, 75.13, 84.14]], [180, "lost_success", null], [[180, 181, 182], "collision", [77.16, 77.53, 75.89]], [183, "success", null], [[183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [18.51, 20.54, 23.12, 19.25, 20.4, 47.04, 50.8, 40.05, 58.2, 58.72, 55.07, 54.24, 52.5, 52.61, 49.4, 52.39, 60.18]]], + "articulation_type": "fridge", + "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": 60, + "task_plan_idx": 148, + "init_config_idx": 130, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22], "collision", [5.58]], [25, "contact", null], [26, "grasped", null], [48, "success", null], [51, "lost_success", null], [53, "success", null], [63, "lost_success", null], [66, "success", null], [78, "lost_success", null], [89, "success", null], [91, "lost_success", null], [92, "success", null], [94, "lost_success", null], [100, "success", null], [102, "lost_success", null], [103, "success", null], [114, "lost_success", null], [115, "success", null], [142, "lost_success", null], [144, "success", null], [145, "lost_success", null], [148, "success", null], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "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": 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": 61, + "task_plan_idx": 18, + "init_config_idx": 61, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 14, 15, 16, 17], "collision", [737.77, 135.9, 210.24, 152.89, 156.33, 67.14]], [20, "contact", null], [20, "grasped", null], [49, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 61, + "task_plan_idx": 49, + "init_config_idx": 56, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [76.1]], [20, "contact", null], [20, "grasped", null], [[32, 33, 34, 36, 37, 38, 39, 40, 41, 42], "collision", [28.93, 13.68, 11.0, 46.85, 44.81, 46.69, 22.18, 26.88, 37.47, 38.01]], [43, "success", null], [[43], "collision", [35.55]], [44, "lost_success", null], [[44], "collision", [36.69]], [45, "success", null], [[45, 46, 47, 48, 49], "collision", [49.89, 68.49, 46.7, 73.59, 93.8]], [50, "lost_success", null], [[50], "collision", [102.42]], [51, "success", null], [[51, 52, 53, 54, 55, 56], "collision", [104.09, 95.72, 0.77, 0.24, 0.13, 0.05]], [57, "lost_success", null], [[57, 60, 62], "collision", [0.0, 0.02, 5.84]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 61, + "task_plan_idx": 92, + "init_config_idx": 7, + "spawn_selection_idx": 5, + "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], [35, "lost_success", null], [36, "success", null], [39, "lost_success", null], [[39, 40, 41, 42], "collision", [132.77, 253.98, 204.52, 5.44]], [43, "success", null], [[45, 46, 47], "collision", [60.89, 32.96, 39.31]], [48, "lost_success", null], [[48, 49], "collision", [33.55, 12.05]], [55, "success", null], [63, "lost_success", null], [64, "success", null], [77, "lost_success", null], [80, "success", null], [81, "lost_success", null], [82, "success", null], [123, "lost_success", null], [124, "success", null], [125, "lost_success", null], [126, "success", null], [127, "lost_success", null], [128, "success", null], [136, "lost_success", null], [149, "success", null], [150, "lost_success", null], [151, "success", null], [159, "lost_success", null], [164, "success", null], [165, "lost_success", null], [166, "success", null], [168, "lost_success", null], [169, "success", null], [170, "lost_success", null], [171, "success", null], [172, "lost_success", null], [173, "success", null], [174, "lost_success", null], [175, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 52, + "init_config_idx": 107, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [525.43, 15.36]], [17, "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, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57], "collision", [10.79, 59.11, 51.04, 42.68, 42.4, 35.19, 33.96, 24.53, 17.52, 10.0, 102.9, 40.51, 3.86, 11.65, 15.84, 23.18, 22.61, 25.69, 21.68, 23.92, 20.54, 18.57, 17.17, 22.32, 21.08, 21.04, 18.08, 21.62, 19.36, 18.64, 18.12, 21.07, 15.68, 15.1, 19.17, 16.51, 16.9, 17.17, 18.38, 17.44]], [58, "success", null], [[58, 59, 60, 61, 62, 63], "collision", [17.07, 20.99, 20.03, 20.02, 15.52, 19.69]], [64, "lost_success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73], "collision", [20.49, 22.83, 24.82, 20.94, 20.94, 24.89, 24.71, 22.12, 19.28, 19.05]], [74, "success", null], [[74], "collision", [18.4]], [75, "lost_success", null], [[75], "collision", [18.28]], [76, "success", null], [[76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86], "collision", [21.49, 20.2, 18.98, 20.4, 21.64, 19.91, 19.13, 17.29, 19.09, 20.83, 21.9]], [87, "lost_success", null], [[87], "collision", [18.51]], [88, "success", null], [[88, 89, 90], "collision", [21.23, 19.8, 22.01]], [91, "lost_success", null], [[91, 92, 93, 94, 95, 96, 97, 98], "collision", [20.54, 21.14, 18.54, 21.46, 18.38, 17.58, 22.7, 24.89]], [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], "collision", [21.32, 21.27, 22.57, 20.39, 24.73, 24.62, 25.92, 26.62, 24.34, 24.87, 21.89, 25.45, 25.49, 24.8, 25.0, 22.67, 26.57, 25.28, 28.44, 26.05, 27.21, 27.98, 23.42, 28.51, 27.8, 26.17, 25.21, 25.42, 25.81, 26.0]], [129, "lost_success", null], [[129], "collision", [26.7]], [130, "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], "collision", [25.0, 24.84, 24.51, 24.36, 25.58, 26.14, 23.99, 25.47, 25.88, 28.13, 26.92, 28.8, 26.29, 30.72, 24.96, 23.8, 25.45, 24.87, 27.07, 26.29, 26.89, 28.1, 23.51, 26.53]], [154, "lost_success", null], [[154, 155], "collision", [20.31, 21.32]], [156, "success", null], [[156], "collision", [17.94]], [157, "lost_success", null], [[157], "collision", [14.88]], [158, "success", null], [[158, 159, 160], "collision", [16.68, 17.23, 20.59]], [161, "lost_success", null], [[161], "collision", [19.83]], [162, "success", null], [[162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176], "collision", [16.1, 15.78, 18.85, 23.91, 14.45, 16.95, 18.22, 21.84, 21.46, 19.43, 18.42, 21.28, 18.34, 18.2, 16.99]], [177, "lost_success", null], [[177, 178], "collision", [19.88, 19.74]], [179, "success", null], [[179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190], "collision", [18.58, 22.04, 22.56, 21.61, 23.73, 18.65, 20.23, 19.67, 21.19, 22.51, 22.81, 23.85]], [191, "lost_success", null], [[191], "collision", [20.14]], [192, "success", null], [[192, 193, 194, 195, 196, 197, 198, 199], "collision", [20.44, 19.89, 21.59, 20.84, 19.03, 20.89, 15.52, 19.8]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 45, + "init_config_idx": 25, + "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], [11, "grasped", null], [24, "success", null], [25, "lost_success", null], [27, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 27, + "init_config_idx": 97, + "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], [18, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38], "collision", [45.47, 37.73, 17.37, 17.46, 11.47, 9.61, 11.7, 13.28, 5.04, 2.75, 3.68, 3.55, 4.48, 1.98, 3.8, 1.21, 3.29, 2.33, 4.08, 3.36, 4.51]], [39, "success", null], [[39, 40, 41, 42, 43, 44, 45, 46], "collision", [2.67, 0.6, 0.32, 3.16, 0.4, 1.2, 2.0, 2.66]], [47, "lost_success", null], [[47], "collision", [1.41]], [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, 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, 137, 138, 139, 142, 147, 149, 150, 151, 152, 153, 155, 159, 161, 163, 164, 167, 168, 169, 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", [0.94, 0.78, 1.02, 2.25, 1.45, 3.29, 3.01, 2.07, 455.98, 0.64, 292.52, 13.71, 53.78, 69.11, 68.6, 78.06, 53.96, 113.41, 3.22, 3.85, 250.47, 3.86, 52.48, 0.89, 1.21, 2.57, 2.11, 4.02, 5.24, 2.15, 0.9, 4.19, 2.11, 2.41, 1.19, 1.44, 0.86, 0.09, 3.19, 1.91, 0.39, 0.12, 0.79, 2.49, 0.14, 1.66, 3.12, 0.22, 2.84, 1.51, 1.5, 1.99, 1.87, 0.36, 0.41, 1.35, 0.64, 2.04, 3.0, 0.94, 1.0, 4.1, 1.21, 3.0, 1.18, 1.21, 1.01, 2.78, 0.24, 2.55, 2.43, 0.82, 1.1, 1.02, 1.23, 4.21, 1.29, 2.28, 1.74, 0.91, 1.27, 2.72, 2.42, 1.74, 1.75, 1.05, 2.49, 2.58, 1.66, 0.36, 0.15, 1.74, 0.36, 0.64, 0.96, 0.35, 0.17, 1.14, 0.71, 0.69, 0.4, 0.78, 0.52, 0.04, 0.75, 0.03, 0.21, 0.23, 0.4, 1.72, 0.82, 1.08, 3.37, 0.4, 1.33, 1.02, 2.04, 2.2, 1.53, 1.51, 3.25, 2.32, 1.26, 1.56, 4.29, 2.54, 2.91, 3.19, 3.45, 3.96, 1.08]]], + "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": 63, + "task_plan_idx": 114, + "init_config_idx": 59, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16], "collision", [145.66, 140.37, 67.09]], [20, "contact", null], [20, "grasped", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [90, "lost_success", null], [91, "success", null], [110, "lost_success", null], [112, "success", null], [122, "lost_success", null], [123, "success", null], [145, "lost_success", null], [146, "success", null], [149, "lost_success", null], [151, "success", null], [155, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "success", null], [162, "lost_success", null], [186, "success", null]], + "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": 63, + "task_plan_idx": 21, + "init_config_idx": 94, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7], "collision", [364.13, 217.64, 221.39]], [11, "contact", null], [11, "grasped", null], [24, "success", null], [[36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53], "collision", [11.47, 16.77, 29.98, 39.95, 37.95, 5.46, 3.64, 4.11, 2.77, 4.07, 7.58, 103.86, 47.13, 69.33, 3.21, 5.13, 54.98, 3.0]], [54, "lost_success", null], [[54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [1.65, 142.86, 27.12, 66.97, 79.68, 3.17, 3.38, 4.76, 1.92, 2.41, 2.5, 2.43, 5.15, 2.98, 2.53, 0.83]], [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, 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], "collision", [1.79, 1.0, 3.31, 4.7, 2.21, 2.31, 2.9, 2.84, 2.48, 1.81, 2.06, 3.58, 2.94, 3.91, 3.94, 2.54, 2.42, 2.11, 1.32, 2.55, 2.5, 1.66, 1.24, 1.28, 1.16, 0.99, 1.22, 0.92, 1.92, 0.65, 1.33, 2.66, 1.11, 2.09, 2.26, 1.68, 1.8, 2.08, 1.93, 1.64, 0.88, 1.7, 3.21, 3.74, 3.65, 2.4, 2.5, 2.5, 2.4, 1.25, 1.34, 2.12, 1.73, 1.63, 1.95, 1.84, 1.77, 1.44, 2.23, 3.13]], [130, "lost_success", null], [[130], "collision", [2.9]], [131, "success", null], [[131], "collision", [2.71]], [132, "lost_success", null], [[132, 133], "collision", [2.72, 1.72]], [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", [1.57, 1.95, 1.28, 0.75, 1.83, 3.2, 3.03, 3.1, 2.85, 2.88, 1.46, 0.93, 1.18, 1.48, 1.47, 2.69, 1.87, 2.78, 1.84, 2.25, 1.51, 1.62, 1.87, 1.47, 2.08, 1.85, 1.83, 1.37, 2.16, 1.54, 1.62, 1.95, 1.14, 1.22, 2.64, 1.31, 1.11, 1.33, 1.71, 1.54, 0.94, 1.88, 1.3, 1.56, 1.18, 0.96, 1.36, 1.93, 1.25, 1.28, 2.84, 3.28, 0.96, 0.64, 1.3, 0.48, 0.74, 0.85, 1.2, 0.48, 0.57, 1.63, 1.15, 0.76, 1.52, 0.96]]], + "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": 64, + "task_plan_idx": 68, + "init_config_idx": 77, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 7, 8, 9], "collision", [1047.42, 1350.96, 197.98, 217.72]], [12, "contact", null], [12, "grasped", null], [[27], "collision", [1.06]], [32, "success", null], [36, "lost_success", null], [39, "success", null], [40, "lost_success", null], [51, "success", null], [52, "lost_success", null], [57, "success", null], [62, "lost_success", null], [74, "success", null], [75, "lost_success", null], [78, "success", null], [[98, 99, 102, 103], "collision", [23.12, 16.34, 13.29, 25.95]], [104, "lost_success", null], [105, "success", null], [[105], "collision", [18.5]], [106, "lost_success", null], [[107], "collision", [21.79]], [108, "success", null], [123, "lost_success", null], [124, "success", null], [142, "lost_success", null], [146, "success", null], [158, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [163, "lost_success", null], [166, "success", null], [178, "lost_success", null], [180, "success", null], [182, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 64, + "task_plan_idx": 36, + "init_config_idx": 167, + "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], [16, "grasped", null], [[24, 28, 29, 30, 31], "collision", [48.57, 73.42, 59.57, 51.57, 55.3]], [32, "success", null], [[32, 33], "collision", [51.64, 54.03]], [34, "lost_success", null], [[34, 35], "collision", [55.94, 53.89]], [36, "success", null], [[36, 37], "collision", [53.32, 57.29]], [38, "lost_success", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48], "collision", [53.61, 54.01, 55.28, 56.11, 55.82, 54.34, 56.58, 53.77, 62.07, 57.48, 56.97]], [49, "success", null], [[49, 50, 51, 52, 53], "collision", [53.8, 52.05, 51.81, 50.31, 48.44]], [54, "lost_success", null], [[54], "collision", [48.34]], [55, "success", null], [[55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75], "collision", [49.29, 47.76, 47.18, 47.98, 48.44, 48.95, 48.33, 48.97, 49.12, 48.21, 48.03, 47.27, 47.4, 47.46, 47.51, 47.47, 47.36, 46.74, 46.66, 44.41, 49.05]], [76, "lost_success", null], [[76], "collision", [46.67]], [77, "success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92], "collision", [46.66, 45.34, 43.92, 43.34, 43.37, 41.54, 41.89, 42.86, 43.55, 42.68, 43.13, 43.46, 42.74, 43.0, 42.96, 42.9]], [93, "lost_success", null], [[93, 94], "collision", [76.31, 81.43]], [95, "success", null], [[95, 96, 97, 98, 99, 100, 101, 102], "collision", [44.3, 49.65, 70.04, 33.22, 36.26, 41.22, 18.9, 3.76]], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [118, "lost_success", null], [119, "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": 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": 65, + "task_plan_idx": 131, + "init_config_idx": 111, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[24, 25], "collision", [214.66, 0.08]], [28, "contact", null], [[28, 29, 30], "collision", [195.66, 10.73, 223.44]], [31, "grasped", null], [[31, 34], "collision", [170.4, 0.1]], [59, "success", null], [[62, 63, 65, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79], "collision", [36.4, 44.16, 67.42, 7.74, 14.77, 19.48, 24.01, 19.57, 26.04, 24.43, 26.37, 20.85, 26.04, 25.05, 28.14, 29.35]], [80, "lost_success", null], [[80, 81], "collision", [27.84, 31.51]], [82, "success", null], [[82, 83], "collision", [29.53, 23.2]], [84, "lost_success", null], [[84], "collision", [26.8]], [85, "success", null], [[85, 86, 87, 88, 89, 90, 91, 92, 94, 95, 96, 97, 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], "collision", [23.14, 19.59, 17.94, 20.32, 14.29, 14.5, 19.23, 25.24, 10.79, 18.66, 16.85, 11.91, 10.62, 9.46, 10.39, 9.78, 7.14, 4.29, 17.53, 10.24, 10.2, 14.27, 14.52, 12.62, 17.21, 16.46, 20.51, 16.82, 16.24, 18.32, 16.0, 24.24, 23.18, 14.96, 19.57, 24.33, 18.71, 14.35, 21.69, 19.16, 19.56, 45.07, 36.29]], [130, "lost_success", null], [131, "success", null], [[132, 133, 134, 135, 136, 137, 138, 139], "collision", [14.37, 26.58, 29.06, 44.44, 35.7, 26.07, 15.76, 45.31]], [140, "lost_success", null], [141, "success", null], [[142, 143, 144, 145], "collision", [16.45, 28.36, 53.0, 42.48]], [146, "lost_success", null], [147, "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], "collision", [32.14, 18.1, 25.47, 23.71, 22.17, 27.93, 27.91, 25.71, 24.06, 23.74, 24.93, 28.62, 26.48, 30.44, 5.31, 22.4, 14.46, 15.05, 6.44, 16.67, 21.39, 23.52, 16.37]], [170, "lost_success", null], [172, "success", null], [[172, 173, 174, 176, 178, 180, 182, 183, 184, 185, 186, 187, 188, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [31.3, 15.46, 21.33, 9.39, 4.41, 4.88, 6.4, 5.2, 2.82, 3.04, 4.89, 5.94, 6.91, 6.16, 5.84, 3.64, 5.21, 5.66, 9.52, 8.93, 9.34, 33.74, 31.35]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 56, + "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": [[[23, 25, 26], "collision", [337.05, 69.78, 73.93]], [27, "contact", null], [30, "grasped", null], [[42], "collision", [121.66]], [81, "success", null], [82, "lost_success", null], [86, "success", null], [96, "lost_success", null], [97, "success", null], [114, "lost_success", null], [115, "success", null], [121, "lost_success", null], [123, "success", null], [124, "lost_success", null], [132, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 6, + "task_plan_idx": 128, + "init_config_idx": 90, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [26, "grasped", null], [59, "success", null], [91, "lost_success", null], [120, "success", null], [145, "lost_success", null], [166, "success", null], [167, "lost_success", null], [168, "success", null], [169, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 7, + "task_plan_idx": 85, + "init_config_idx": 148, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [0.35]], [21, "contact", null], [21, "grasped", null], [48, "success", null], [49, "lost_success", null], [[52], "collision", [12.46]], [64, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [117, "success", null], [125, "lost_success", null], [129, "success", null], [132, "lost_success", null], [147, "success", null], [151, "lost_success", null], [157, "success", null], [191, "lost_success", null], [194, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 7, + "task_plan_idx": 163, + "init_config_idx": 37, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[31], "collision", [128.35]], [43, "success", null], [55, "lost_success", null], [56, "success", null], [84, "lost_success", null], [88, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 9, + "task_plan_idx": 112, + "init_config_idx": 73, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [376.08, 256.66]], [19, "contact", null], [19, "grasped", null], [43, "success", null], [44, "lost_success", null], [46, "success", null], [47, "lost_success", null], [49, "success", null], [157, "lost_success", null], [159, "success", null], [165, "lost_success", null], [176, "success", null], [177, "lost_success", null], [180, "success", null], [183, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "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": 10, + "task_plan_idx": 62, + "init_config_idx": 54, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 11, 13, 14, 15, 16, 17], "collision", [1492.3, 12.2, 286.3, 136.86, 1146.21, 275.92, 227.93]], [20, "contact", null], [20, "grasped", null], [50, "success", null], [52, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [83, "lost_success", null], [88, "success", null], [119, "lost_success", null], [121, "success", null], [128, "lost_success", null], [130, "success", null], [141, "lost_success", null], [[141], "collision", [118.89]], [142, "success", null], [[142], "collision", [4.66]], [162, "lost_success", null], [165, "success", null], [166, "lost_success", null], [167, "success", null], [169, "lost_success", null], [170, "success", null], [172, "lost_success", null], [174, "success", null], [176, "lost_success", null], [177, "success", null], [179, "lost_success", null], [181, "success", null], [182, "lost_success", null], [183, "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": 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": 11, + "task_plan_idx": 88, + "init_config_idx": 65, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 15], "collision", [3000.31, 109.59]], [16, "contact", null], [16, "grasped", null], [32, "success", null], [64, "lost_success", null], [66, "success", null], [73, "lost_success", null], [75, "success", null], [107, "lost_success", null], [108, "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": 11, + "task_plan_idx": 49, + "init_config_idx": 55, + "spawn_selection_idx": 48, + "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], [[47, 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], "collision", [18.08, 40.48, 31.93, 20.34, 19.08, 22.17, 24.25, 21.65, 21.29, 16.88, 16.52, 16.59, 18.22, 16.62, 8.99, 6.03, 5.37, 4.84, 6.36, 60.03, 39.74, 30.48, 30.63, 23.88, 25.11, 28.64, 1.07]], [80, "lost_success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [1.75, 5.46, 1.36, 3.13, 2.16, 1.77, 6.74, 2.48, 7.96]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95], "collision", [5.16, 3.25, 2.26, 0.93, 6.67, 5.81, 0.94]], [96, "lost_success", null], [97, "success", null], [99, "lost_success", null], [102, "success", null], [[103, 104, 105, 108, 110, 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", [2.32, 0.3, 1.56, 0.62, 2.35, 12.9, 11.27, 11.2, 11.21, 9.94, 11.9, 12.74, 12.11, 11.46, 10.27, 11.96, 9.84, 10.77, 11.69, 10.79, 11.89, 10.92, 11.47, 11.68, 10.15, 11.18, 12.73, 12.75, 14.96, 8.14, 5.9, 7.4, 8.06, 22.56, 23.77, 24.84, 19.56, 17.04, 19.21, 21.07, 23.61, 24.23, 22.23, 24.52, 20.28, 18.03, 22.01, 20.42, 24.92, 22.94, 22.13, 22.23, 22.08, 23.84, 20.31, 24.13, 21.22, 23.33, 21.61, 19.5, 20.94, 21.26, 22.82, 22.77, 94.74, 96.04, 67.8, 80.6, 32.84, 83.34, 33.49, 66.61, 36.43, 58.55, 21.08, 21.01, 18.28, 21.22, 29.56, 20.92, 19.48, 22.58, 20.28, 21.45, 22.76, 21.43, 46.26, 86.47, 61.82, 16.67, 75.8, 77.41, 72.25]]], + "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": 12, + "task_plan_idx": 20, + "init_config_idx": 44, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 11, 12, 13, 14, 15, 16, 17], "collision", [10.92, 61.81, 246.32, 306.55, 41.05, 76.38, 121.86, 1116.14, 66.53, 225.51, 409.59]], [18, "contact", null], [18, "grasped", null], [[18, 19, 24, 27], "collision", [178.56, 26.89, 1.5, 0.26]], [47, "success", null], [49, "lost_success", null], [[50, 51, 52, 115], "collision", [30.91, 25.89, 12.55, 25.64]], [116, "success", null], [[116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 131, 132], "collision", [31.19, 30.41, 27.76, 22.79, 17.07, 22.18, 26.94, 19.86, 16.97, 15.51, 15.96, 24.0, 15.8, 10.82, 12.7, 7.87]], [162, "lost_success", null], [178, "success", null], [185, "lost_success", null], [[191, 192], "collision", [69.34, 56.48]]], + "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": 13, + "task_plan_idx": 100, + "init_config_idx": 18, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[27, 28], "collision", [0.07, 0.05]], [40, "success", null], [41, "lost_success", null], [44, "success", null], [46, "lost_success", null], [55, "success", null], [84, "lost_success", null], [85, "success", null], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [92, "success", null], [93, "lost_success", null], [95, "success", null], [104, "lost_success", null], [105, "success", null], [121, "lost_success", null], [128, "success", null], [129, "lost_success", null], [133, "success", null], [134, "lost_success", null], [136, "success", null], [137, "lost_success", null], [138, "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": 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": 14, + "task_plan_idx": 56, + "init_config_idx": 154, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [[19], "collision", [460.93]], [20, "grasped", null], [40, "success", null], [51, "lost_success", null], [52, "success", null], [55, "lost_success", null], [56, "success", null], [58, "lost_success", null], [59, "success", null], [74, "lost_success", null], [75, "success", null], [81, "lost_success", null], [82, "success", null], [84, "lost_success", null], [87, "success", null], [89, "lost_success", null], [92, "success", null], [110, "lost_success", null], [111, "success", null], [112, "lost_success", null], [117, "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": 15, + "task_plan_idx": 93, + "init_config_idx": 150, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8], "collision", [373.86, 219.58, 216.71]], [12, "contact", null], [13, "grasped", null], [23, "success", null], [[31, 32, 33, 34, 35, 36, 38, 39, 40, 41, 42, 43, 44, 45, 46, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 73, 74], "collision", [72.81, 77.38, 51.3, 86.2, 44.27, 6.72, 13.24, 24.1, 39.98, 66.14, 27.85, 60.35, 81.53, 90.74, 62.14, 21.34, 44.49, 27.35, 56.71, 42.46, 67.78, 77.76, 43.22, 20.19, 39.94, 32.51, 26.34, 75.05, 60.82, 19.43, 39.92, 43.14, 26.68, 33.85, 19.05, 20.47]], [77, "lost_success", null], [81, "success", null], [92, "lost_success", null], [95, "success", null], [[118, 119, 123], "collision", [14.01, 5.74, 0.93]], [147, "lost_success", null], [148, "success", null], [[151, 152, 153, 154, 155, 156, 158, 159, 160, 161, 162, 173, 174, 175], "collision", [12.96, 23.02, 21.18, 15.45, 17.59, 9.43, 16.74, 17.09, 9.97, 13.65, 23.02, 5.4, 2.48, 2.1]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 147, + "init_config_idx": 72, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[42, 43, 44, 45, 46], "collision", [38.86, 104.7, 35.32, 31.61, 31.29]], [47, "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, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83], "collision", [33.18, 33.84, 31.78, 31.65, 28.96, 32.63, 31.83, 33.71, 32.9, 34.16, 33.33, 31.25, 34.4, 43.2, 37.49, 37.65, 35.83, 35.43, 36.02, 36.75, 36.48, 35.88, 37.49, 60.79, 57.19, 38.64, 48.83, 36.34, 36.57, 33.97, 18.32, 15.12, 14.61, 49.78, 16.12, 15.11, 14.97]], [84, "lost_success", null], [[84], "collision", [13.31]], [85, "success", null], [[85, 86, 87, 88, 89, 90, 91], "collision", [17.29, 11.96, 13.62, 7.07, 4.63, 3.24, 0.07]], [96, "lost_success", null], [[104, 105, 106, 107, 108, 109, 110], "collision", [2.64, 11.21, 10.54, 4.53, 11.91, 10.27, 10.05]], [111, "success", null], [[111, 112, 113, 114, 115], "collision", [9.59, 9.18, 8.82, 10.22, 9.32]], [116, "lost_success", null], [[116, 117, 118, 119], "collision", [10.29, 9.35, 10.74, 9.42]], [120, "success", null], [[120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 137], "collision", [9.07, 11.06, 9.38, 9.63, 9.93, 9.33, 9.38, 10.0, 9.69, 8.97, 9.74, 9.03, 11.38, 2.62, 4.29, 6.26, 2.57]], [138, "lost_success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152], "collision", [10.37, 15.89, 10.65, 9.65, 21.22, 11.95, 2.38, 12.85, 12.71, 7.43, 4.37, 6.8, 8.48]], [153, "success", null], [[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], "collision", [9.01, 2.33, 3.21, 4.64, 7.88, 8.15, 5.86, 5.64, 9.59, 6.33, 6.39, 7.17, 4.22, 7.03, 6.49, 7.25, 6.69, 6.26, 6.12, 6.71, 5.89, 5.73, 8.41, 9.48, 12.71, 8.47, 6.05, 6.44, 6.2, 6.41, 6.34, 6.46, 7.24]], [187, "lost_success", null], [[187, 188, 189], "collision", [6.46, 7.35, 6.7]], [190, "success", null], [[190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [6.85, 5.13, 6.1, 5.18, 6.56, 6.87, 6.72, 6.08, 6.05]], [199, "lost_success", null], [[199], "collision", [6.76]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 16, + "task_plan_idx": 17, + "init_config_idx": 18, + "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, "grasped", null], [[23], "collision", [70.97]], [42, "success", null], [52, "lost_success", null], [53, "success", null], [96, "lost_success", null], [97, "success", null], [140, "lost_success", null], [143, "success", null], [144, "lost_success", null], [145, "success", null], [151, "lost_success", null], [153, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 17, + "task_plan_idx": 43, + "init_config_idx": 50, + "spawn_selection_idx": 20, + "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, 29], "collision", [3.97, 1.59, 2.82, 179.24]], [42, "success", null], [43, "lost_success", null], [44, "success", null], [124, "lost_success", null], [125, "success", null], [136, "lost_success", null], [140, "success", null], [175, "lost_success", null], [177, "success", null], [187, "lost_success", null], [189, "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": 17, + "task_plan_idx": 39, + "init_config_idx": 116, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [87.84]], [18, "contact", null], [18, "grasped", null], [35, "success", null], [87, "lost_success", null], [105, "success", null], [136, "lost_success", null], [137, "success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [562.95, 113.54, 45.97, 17.62, 135.76, 87.14, 91.12, 94.83, 174.7]], [146, "lost_success", null], [[146, 147, 148], "collision", [181.61, 129.92, 88.55]], [149, "success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164], "collision", [95.39, 167.49, 143.1, 170.34, 208.56, 131.6, 150.86, 138.66, 100.35, 109.34, 119.94, 85.66, 95.77, 73.14, 134.52, 86.5]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 17, + "task_plan_idx": 2, + "init_config_idx": 119, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [[10], "collision", [14.93]], [24, "success", null], [124, "lost_success", null], [125, "success", null], [126, "lost_success", null], [127, "success", null], [132, "lost_success", null], [135, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 18, + "task_plan_idx": 47, + "init_config_idx": 105, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [60.42]], [13, "contact", null], [13, "grasped", null], [29, "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], "collision", [104.27, 97.14, 70.64, 109.94, 76.9, 47.25, 27.88, 70.04, 59.24, 71.36, 110.22, 194.56, 235.37, 214.62, 196.87, 226.51, 226.22, 212.0, 225.18, 256.84, 246.79, 238.79, 225.17, 121.32, 131.47, 136.31, 125.13, 106.2, 126.62, 136.58, 137.57, 160.67, 112.95, 66.78]], [88, "lost_success", null], [90, "success", null], [92, "lost_success", null], [99, "success", null], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [105, "success", null], [106, "lost_success", null], [109, "success", null], [120, "lost_success", null], [127, "success", null], [128, "lost_success", null], [129, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 19, + "task_plan_idx": 3, + "init_config_idx": 161, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [752.95]], [21, "contact", null], [21, "grasped", null], [39, "success", null], [40, "lost_success", null], [44, "success", null], [45, "lost_success", null], [48, "success", null], [146, "lost_success", null], [147, "success", null], [148, "lost_success", null], [149, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "success", null], [169, "lost_success", null], [171, "success", null], [173, "lost_success", null], [176, "success", null], [178, "lost_success", null], [179, "success", null], [183, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 19, + "task_plan_idx": 60, + "init_config_idx": 96, + "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], [26, "grasped", null], [[33, 34], "collision", [34.78, 9.49]], [48, "success", null], [49, "lost_success", null], [50, "success", null], [61, "lost_success", null], [62, "success", null], [69, "lost_success", null], [71, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [81, "success", null], [104, "lost_success", null], [105, "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": 20, + "task_plan_idx": 92, + "init_config_idx": 105, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [2329.72, 237.34]], [17, "contact", null], [17, "grasped", null], [[17], "collision", [558.96]], [31, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 66, + "init_config_idx": 151, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 9], "collision", [12.86, 369.1]], [15, "contact", null], [15, "grasped", null], [[20, 21], "collision", [3.39, 1.0]], [30, "success", null], [31, "lost_success", null], [33, "success", null], [34, "lost_success", null], [37, "success", null], [[51, 52, 53, 57], "collision", [70.71, 26.1, 13.43, 28.73]], [63, "lost_success", null], [64, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 128, + "init_config_idx": 89, + "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], [16, "grasped", null], [[34, 35], "collision", [30.93, 89.78]], [36, "success", null], [[36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55], "collision", [72.72, 105.97, 69.75, 61.02, 54.0, 70.69, 79.35, 78.32, 87.47, 58.58, 46.83, 36.16, 46.33, 44.46, 44.99, 26.19, 36.09, 13.55, 20.99, 13.32]], [65, "lost_success", null], [72, "success", null], [73, "lost_success", null], [76, "success", null], [103, "lost_success", null], [107, "success", null], [[121, 122, 123, 124, 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], "collision", [2.29, 2.42, 7.9, 4.36, 32.93, 27.9, 26.7, 48.94, 24.18, 13.62, 40.16, 24.31, 34.4, 21.22, 28.64, 33.42, 25.17, 6.99, 14.0, 16.61, 16.89, 16.38, 22.42, 14.27, 8.8, 9.21, 10.26, 44.84, 47.18, 37.93, 27.97, 40.83, 32.07, 18.21, 54.85, 36.56, 32.96, 19.05, 26.35]], [173, "lost_success", null], [176, "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": 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": 22, + "task_plan_idx": 64, + "init_config_idx": 61, + "spawn_selection_idx": 48, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 13], "collision", [321.95, 196.57, 451.26, 408.57, 13.17]], [17, "contact", null], [17, "grasped", null], [31, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 23, + "task_plan_idx": 163, + "init_config_idx": 164, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [51, "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, 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], "collision", [2.3, 0.04, 0.02, 0.03, 0.1, 0.1, 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, 0.1, 0.09, 0.1, 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, 0.07, 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, 0.1, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [136, "lost_success", null], [[136], "collision", [0.09]], [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, 163, 164, 165], "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]], [166, "lost_success", null], [[166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [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], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.1, 0.09, 0.1, 0.09, 0.09, 0.09, 0.1, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.1, 0.09]], [197, "lost_success", null], [[197], "collision", [0.09]], [198, "success", null], [[198, 199], "collision", [0.1, 0.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 24, + "task_plan_idx": 51, + "init_config_idx": 95, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [96.18]], [19, "contact", null], [19, "grasped", null], [40, "success", null], [64, "lost_success", null], [65, "success", null], [70, "lost_success", null], [71, "success", null], [72, "lost_success", null], [73, "success", null], [76, "lost_success", null], [77, "success", null], [81, "lost_success", null], [82, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 24, + "task_plan_idx": 144, + "init_config_idx": 159, + "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], [19, "grasped", null], [[25, 26], "collision", [338.36, 752.22]], [48, "success", null], [55, "lost_success", null], [81, "success", null], [96, "lost_success", null], [97, "success", null], [107, "lost_success", null], [108, "success", null], [121, "lost_success", null], [123, "success", null], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null], [167, "lost_success", null], [168, "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": 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": 24, + "task_plan_idx": 68, + "init_config_idx": 104, + "spawn_selection_idx": 77, + "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], [79, "lost_success", null], [88, "success", null], [89, "lost_success", null], [90, "success", null], [93, "lost_success", null], [99, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 98, + "init_config_idx": 105, + "spawn_selection_idx": 58, + "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], "collision", [20.52]], [34, "success", null], [[34, 35, 36], "collision", [54.97, 103.91, 33.28]], [37, "lost_success", null], [[37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55], "collision", [8.28, 8.66, 9.69, 8.24, 10.72, 9.23, 9.18, 8.31, 6.41, 4.95, 11.94, 10.93, 9.91, 9.63, 10.51, 9.39, 9.28, 10.31, 10.91]], [56, "success", null], [[56, 57], "collision", [9.13, 9.27]], [58, "lost_success", null], [[58, 59], "collision", [11.03, 10.78]], [60, "success", null], [[60, 61, 62, 63, 64], "collision", [9.58, 9.93, 8.93, 10.98, 11.86]], [65, "lost_success", null], [[65], "collision", [11.74]], [66, "success", null], [[66], "collision", [12.51]], [67, "lost_success", null], [[67], "collision", [11.62]], [68, "success", null], [[68, 69, 70, 71], "collision", [12.02, 10.92, 10.17, 11.26]], [72, "lost_success", null], [[72], "collision", [9.89]], [73, "success", null], [[73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84], "collision", [11.92, 9.99, 10.71, 12.32, 10.37, 10.89, 11.03, 11.65, 8.98, 10.17, 11.4, 9.11]], [85, "lost_success", null], [[85], "collision", [11.67]], [86, "success", null], [[86, 87, 88, 89, 90, 91], "collision", [11.61, 11.67, 10.63, 8.4, 10.69, 9.38]], [92, "lost_success", null], [[92], "collision", [12.1]], [93, "success", null], [[93], "collision", [10.15]], [94, "lost_success", null], [[94, 95, 96, 97, 98], "collision", [9.37, 11.26, 13.18, 12.28, 9.47]], [99, "success", null], [[99], "collision", [12.33]], [100, "lost_success", null], [[100, 101], "collision", [11.83, 10.82]], [102, "success", null], [[102], "collision", [11.82]], [103, "lost_success", null], [[103, 104, 105, 106], "collision", [10.98, 11.15, 12.85, 11.71]], [107, "success", null], [[107], "collision", [9.19]], [108, "lost_success", null], [[108, 109], "collision", [9.25, 10.11]], [110, "success", null], [[110], "collision", [10.99]], [111, "lost_success", null], [[111, 112], "collision", [10.56, 8.72]], [113, "success", null], [[113], "collision", [8.95]], [114, "lost_success", null], [[114, 115, 116, 117, 118, 119], "collision", [10.25, 13.32, 11.27, 11.11, 11.76, 12.1]], [120, "success", null], [[120], "collision", [9.86]], [121, "lost_success", null], [[121, 122], "collision", [11.54, 10.77]], [123, "success", null], [[123], "collision", [12.64]], [124, "lost_success", null], [[124], "collision", [11.86]], [125, "success", null], [[125], "collision", [10.84]], [126, "lost_success", null], [[126, 127], "collision", [11.13, 12.12]], [128, "success", null], [[128, 129, 130], "collision", [12.07, 11.46, 11.89]], [131, "lost_success", null], [[131, 132, 133, 134], "collision", [11.48, 11.33, 11.28, 12.56]], [135, "success", null], [[135, 136, 137], "collision", [9.36, 12.46, 12.8]], [138, "lost_success", null], [[138], "collision", [12.4]], [139, "success", null], [[139, 140, 141], "collision", [11.07, 10.02, 12.88]], [142, "lost_success", null], [[142], "collision", [10.55]], [143, "success", null], [[143], "collision", [12.45]], [144, "lost_success", null], [[144], "collision", [11.58]], [145, "success", null], [[145, 146], "collision", [10.72, 11.91]], [147, "lost_success", null], [[147, 148], "collision", [11.76, 12.1]], [149, "success", null], [[149, 150, 151], "collision", [12.51, 9.84, 12.58]], [152, "lost_success", null], [[152, 153, 154, 155, 156], "collision", [12.38, 10.85, 12.33, 12.77, 9.42]], [157, "success", null], [[157], "collision", [10.73]], [158, "lost_success", null], [[158], "collision", [10.78]], [159, "success", null], [[159, 160, 161, 162, 163], "collision", [11.13, 10.01, 10.5, 10.1, 10.97]], [164, "lost_success", null], [[164, 165, 166], "collision", [9.76, 11.6, 11.39]], [167, "success", null], [[167, 168, 169], "collision", [11.86, 10.42, 11.18]], [170, "lost_success", null], [[170], "collision", [12.79]], [171, "success", null], [[171, 172, 173], "collision", [12.25, 10.2, 11.83]], [174, "lost_success", null], [[174], "collision", [11.09]], [175, "success", null], [[175], "collision", [11.68]], [176, "lost_success", null], [[176, 177], "collision", [12.27, 12.44]], [178, "success", null], [[178, 179, 180, 181], "collision", [11.48, 12.23, 10.66, 12.53]], [182, "lost_success", null], [[182], "collision", [11.76]], [183, "success", null], [[183], "collision", [11.43]], [184, "lost_success", null], [[184], "collision", [11.56]], [185, "success", null], [[185, 186], "collision", [10.19, 10.88]], [187, "lost_success", null], [[187, 188, 189], "collision", [11.74, 12.0, 11.37]], [190, "success", null], [[190, 191], "collision", [11.37, 11.66]], [192, "lost_success", null], [[192], "collision", [11.07]], [193, "success", null], [[193], "collision", [11.04]], [194, "lost_success", null], [[194, 195, 196], "collision", [12.38, 12.29, 10.09]], [197, "success", null], [[197], "collision", [12.14]], [198, "lost_success", null], [[198], "collision", [12.0]], [199, "success", null], [[199], "collision", [9.84]]], + "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": 25, + "task_plan_idx": 44, + "init_config_idx": 73, + "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], [[22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49], "collision", [33.94, 19.27, 13.02, 23.56, 13.15, 12.46, 11.93, 13.63, 11.94, 9.8, 4.38, 44.19, 4.58, 3.43, 50.31, 63.96, 72.6, 43.29, 33.92, 10.42, 9.46, 9.68, 10.99, 10.14, 10.16, 12.02, 10.36]], [50, "success", null], [[50, 51, 52, 53, 54, 55, 56, 57, 58], "collision", [11.86, 11.57, 11.34, 11.74, 11.1, 10.94, 12.44, 12.63, 12.54]], [59, "lost_success", null], [[59], "collision", [11.64]], [60, "success", null], [[60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71], "collision", [11.98, 12.52, 12.74, 12.36, 11.98, 11.45, 11.93, 12.34, 13.86, 11.6, 10.88, 19.45]], [72, "lost_success", null], [[72], "collision", [17.55]], [73, "success", null], [[73, 74, 75, 76, 77], "collision", [16.99, 18.84, 19.34, 17.9, 15.04]], [78, "lost_success", null], [[78], "collision", [15.22]], [79, "success", null], [[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], "collision", [16.69, 19.25, 17.41, 17.87, 17.84, 17.57, 17.9, 18.92, 18.27, 18.81, 15.69, 15.77, 15.21, 1.83, 1.12, 2.1, 1.81, 2.83, 2.51, 1.7, 2.59, 2.59, 4.98, 3.92, 4.24, 2.85, 1.87, 1.68, 1.22, 1.03, 1.93, 2.75, 2.76, 2.98, 3.45, 4.11, 2.33, 1.38, 2.07, 3.23, 3.11, 4.5, 2.82, 2.36, 3.2, 5.17, 3.18, 5.78, 5.61, 4.27, 4.53, 5.37, 4.53, 4.74, 5.57, 4.44, 3.33, 3.1, 3.08, 3.62, 4.82, 5.04, 4.08, 3.06, 3.33, 2.11, 4.02, 2.98, 2.42, 2.58, 2.46, 3.99, 2.49, 3.25, 3.37, 1.67, 3.14, 3.31, 1.99, 2.38, 2.57, 4.5, 2.84, 2.64, 4.05, 3.58, 4.12, 3.35, 4.95, 5.18, 3.95, 3.64, 3.45, 4.04, 4.79, 5.32, 4.3, 4.38, 2.71]], [178, "lost_success", null], [[178], "collision", [3.67]], [179, "success", null], [[179, 180, 181, 182, 183, 184, 185], "collision", [2.03, 3.77, 4.08, 2.89, 2.53, 4.34, 3.99]], [186, "lost_success", null], [[186, 187, 188, 189], "collision", [3.74, 1.98, 2.05, 4.71]], [190, "success", null], [[190], "collision", [5.78]], [191, "lost_success", null], [[191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [5.38, 3.74, 3.61, 7.34, 4.96, 5.54, 6.12, 8.77, 5.55]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 26, + "task_plan_idx": 18, + "init_config_idx": 73, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [257.03, 223.97, 170.47, 184.75]], [14, "contact", null], [14, "grasped", null], [36, "success", null], [55, "lost_success", null], [58, "success", null], [64, "lost_success", null], [68, "success", null], [69, "lost_success", null], [71, "success", null], [77, "lost_success", null], [80, "success", null], [81, "lost_success", null], [92, "success", null], [97, "lost_success", null], [98, "success", null], [156, "lost_success", null], [171, "success", null], [173, "lost_success", null], [174, "success", null], [175, "lost_success", null], [176, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 27, + "task_plan_idx": 71, + "init_config_idx": 43, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [52, "success", null], [141, "lost_success", null], [142, "success", null], [143, "lost_success", null], [144, "success", null], [145, "lost_success", null], [169, "success", null], [172, "lost_success", null], [173, "success", null], [181, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 27, + "task_plan_idx": 94, + "init_config_idx": 112, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [165.84, 587.12, 439.66]], [12, "contact", null], [13, "grasped", null], [39, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [60, "lost_success", null], [61, "success", null], [71, "lost_success", null], [72, "success", null], [103, "lost_success", null], [107, "success", null], [111, "lost_success", null], [112, "success", null], [113, "lost_success", null], [118, "success", null], [177, "lost_success", null], [179, "success", null], [181, "lost_success", null], [182, "success", null], [183, "lost_success", null], [184, "success", null], [190, "lost_success", null], [191, "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": 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": 28, + "task_plan_idx": 25, + "init_config_idx": 51, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [1596.65]], [15, "contact", null], [15, "grasped", null], [[16, 18, 19, 20, 21, 22, 23], "collision", [23.62, 0.27, 23.19, 41.63, 24.72, 36.78, 35.53]], [40, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [66, "success", null], [68, "lost_success", null], [69, "success", null], [72, "lost_success", null], [74, "success", null], [80, "lost_success", null], [152, "success", null], [154, "lost_success", null], [159, "success", null], [167, "lost_success", null], [173, "success", null], [182, "lost_success", null], [192, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 28, + "task_plan_idx": 66, + "init_config_idx": 138, + "spawn_selection_idx": 91, + "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", [267.55, 139.75, 150.96, 217.67, 245.96, 210.84]], [16, "contact", null], [16, "grasped", null], [[16], "collision", [92.85]], [40, "success", null], [65, "lost_success", null], [66, "success", null], [130, "lost_success", null], [131, "success", null], [132, "lost_success", null], [135, "success", null], [148, "lost_success", null], [149, "success", null], [151, "lost_success", null], [170, "success", null], [171, "lost_success", null], [172, "success", null], [174, "lost_success", null], [176, "success", null], [191, "lost_success", null], [196, "success", null]], + "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": 28, + "task_plan_idx": 39, + "init_config_idx": 8, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19], "collision", [0.02, 0.08]], [20, "contact", null], [20, "grasped", null], [[28, 29, 30, 31, 32, 33, 40], "collision", [458.57, 152.76, 187.76, 129.24, 74.69, 75.39, 24.03]], [41, "success", null], [[41, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 64, 65, 67, 68, 69, 70, 72, 76, 77, 78, 79, 80, 83, 84, 85, 86, 91, 93, 94, 95, 96], "collision", [37.93, 40.84, 46.86, 90.66, 70.95, 66.01, 52.16, 11.12, 34.59, 50.02, 56.7, 59.94, 10.83, 26.5, 30.61, 37.04, 20.58, 20.45, 29.9, 15.29, 29.02, 23.82, 21.45, 9.12, 34.47, 37.88, 76.99, 68.33, 74.22, 27.7, 18.77, 49.26, 70.31, 38.02, 117.03, 811.9, 273.0, 12.44, 67.69, 121.85]], [97, "lost_success", null], [[97, 98], "collision", [158.44, 80.53]], [102, "success", null], [103, "lost_success", null], [104, "success", null], [116, "lost_success", null], [119, "success", null]], + "articulation_type": "fridge", + "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": 29, + "task_plan_idx": 154, + "init_config_idx": 150, + "spawn_selection_idx": 69, + "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], "collision", [88.26, 129.62, 160.56, 170.38, 167.92, 183.5, 119.05]], [17, "contact", null], [21, "grasped", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [46, "lost_success", null], [47, "success", null], [53, "lost_success", null], [56, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [70, "lost_success", null], [74, "success", null], [79, "lost_success", null], [85, "success", null], [86, "lost_success", null], [88, "success", null], [96, "lost_success", null], [98, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [108, "success", null], [111, "lost_success", null], [114, "success", null], [115, "lost_success", null], [167, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 29, + "task_plan_idx": 58, + "init_config_idx": 108, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [64, "lost_success", null], [65, "success", null], [[84, 85, 86, 87, 88, 89, 90], "collision", [15.82, 38.32, 31.98, 40.49, 38.69, 18.35, 31.15]], [91, "lost_success", null], [[92], "collision", [30.1]], [93, "success", null], [94, "lost_success", null], [99, "success", null], [108, "lost_success", null], [109, "success", null], [131, "lost_success", null], [132, "success", null], [163, "lost_success", null], [168, "success", null], [179, "lost_success", null], [181, "success", null], [182, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 29, + "task_plan_idx": 63, + "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": [[[2, 3, 4, 5, 6], "collision", [1624.76, 389.61, 371.18, 370.39, 349.02]], [12, "contact", null], [13, "grasped", null], [29, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 30, + "task_plan_idx": 73, + "init_config_idx": 126, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [194.5]], [21, "contact", null], [[21], "collision", [699.58]], [22, "grasped", null], [50, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [92, "lost_success", null], [93, "success", null], [94, "lost_success", null], [95, "success", null], [98, "lost_success", null], [99, "success", null], [113, "lost_success", null], [119, "success", null], [126, "lost_success", null], [127, "success", null], [128, "lost_success", null], [129, "success", null], [130, "lost_success", null], [135, "success", null], [138, "lost_success", null], [139, "success", null], [153, "lost_success", null], [181, "success", null], [182, "lost_success", null]], + "articulation_type": "fridge", + "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": 30, + "task_plan_idx": 127, + "init_config_idx": 76, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 17], "collision", [342.83, 197.99]], [20, "contact", null], [20, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40], "collision", [56.89, 32.57, 16.6, 22.11, 16.64, 9.32, 9.18, 8.6, 7.06, 8.06, 7.06, 14.2, 12.27, 16.71, 13.77, 12.41, 11.59, 12.05, 10.83, 9.59, 11.08]], [41, "success", null], [[41, 42, 43, 44, 45, 46, 47, 48, 49, 50], "collision", [8.61, 9.63, 11.57, 10.65, 11.15, 11.59, 10.19, 10.9, 11.03, 11.36]], [51, "lost_success", null], [[51], "collision", [11.87]], [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], "collision", [9.52, 9.83, 10.55, 9.52, 11.73, 11.32, 10.7, 10.38, 9.8, 10.62, 9.92, 10.81, 10.15, 13.19, 12.6, 13.37, 12.17, 12.81, 12.13, 11.7, 12.36, 11.32, 11.17, 12.59, 11.8, 12.18, 11.74, 10.32, 12.27, 12.02, 11.93, 12.2, 11.97, 13.25, 11.88, 11.76, 12.6, 12.04, 10.99, 13.0, 12.7, 12.97, 13.18, 11.74]], [96, "lost_success", null], [[96], "collision", [9.39]], [97, "success", null], [[97, 98, 99, 100, 101], "collision", [10.62, 10.85, 11.11, 9.09, 8.39]], [102, "lost_success", null], [[102], "collision", [7.49]], [103, "success", null], [[103], "collision", [4.99]], [104, "lost_success", null], [[104], "collision", [1.98]], [105, "success", null], [[105], "collision", [2.03]], [106, "lost_success", null], [[106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116], "collision", [2.15, 1.51, 1.86, 2.53, 1.73, 1.42, 2.48, 1.98, 2.24, 3.06, 4.16]], [117, "success", null], [[117, 118, 119, 120, 121], "collision", [2.84, 5.12, 6.91, 7.08, 7.69]], [122, "lost_success", null], [[122], "collision", [7.39]], [123, "success", null], [[123, 124, 125, 126], "collision", [6.5, 7.39, 6.5, 7.3]], [127, "lost_success", null], [[127], "collision", [9.7]], [128, "success", null], [[128], "collision", [10.52]], [129, "lost_success", null], [[129, 130, 131], "collision", [10.17, 11.37, 11.84]], [132, "success", null], [[132, 133, 134, 135, 136, 137, 138, 139], "collision", [10.76, 11.6, 11.59, 11.43, 11.01, 12.71, 10.03, 11.28]], [140, "lost_success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151], "collision", [10.78, 14.18, 11.92, 10.58, 10.11, 10.26, 14.49, 12.84, 13.61, 14.01, 13.44, 13.88]], [152, "success", null], [[152, 153, 154, 155], "collision", [12.98, 13.49, 14.19, 13.7]], [156, "lost_success", null], [[156, 157], "collision", [13.48, 14.52]], [158, "success", null], [[158], "collision", [14.09]], [159, "lost_success", null], [[159], "collision", [14.62]], [160, "success", null], [[160], "collision", [14.3]], [161, "lost_success", null], [[161, 162, 163, 164, 165, 166], "collision", [14.29, 15.08, 14.36, 14.34, 13.38, 13.94]], [167, "success", null], [[167], "collision", [13.1]], [168, "lost_success", null], [[168], "collision", [13.64]], [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", [12.84, 14.0, 12.28, 12.95, 12.33, 13.09, 14.68, 13.5, 12.04, 12.36, 13.48, 12.95, 13.14, 12.43, 13.71, 12.51, 13.57, 12.41, 11.58, 11.95, 12.7, 12.84, 12.39, 12.97, 12.06, 13.24, 13.24, 12.9, 13.02, 11.89, 13.28]]], + "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": 31, + "task_plan_idx": 17, + "init_config_idx": 18, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 10], "collision", [921.07, 38.43]], [15, "contact", null], [15, "grasped", null], [[15, 16, 17], "collision", [211.72, 89.84, 834.94]], [26, "success", null], [27, "lost_success", null], [29, "success", null], [30, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [53, "lost_success", null], [54, "success", null], [57, "lost_success", null], [58, "success", null], [61, "lost_success", null], [64, "success", null], [74, "lost_success", null], [77, "success", null], [78, "lost_success", null], [80, "success", null], [83, "lost_success", null], [85, "success", null], [90, "lost_success", null], [96, "success", null], [105, "lost_success", null], [111, "success", null], [114, "lost_success", null], [115, "success", null], [134, "lost_success", null], [140, "success", null]], + "articulation_type": "fridge", + "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": 31, + "task_plan_idx": 85, + "init_config_idx": 113, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[21, 22, 23, 36], "collision", [247.05, 449.33, 274.21, 122.48]], [40, "success", null], [52, "lost_success", null], [57, "success", null], [60, "lost_success", null], [62, "success", null], [112, "lost_success", null], [113, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 32, + "task_plan_idx": 66, + "init_config_idx": 11, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2], "collision", [1344.11]], [16, "contact", null], [17, "grasped", null], [[17], "collision", [608.43]], [40, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [89, "success", null], [90, "lost_success", null], [91, "success", null], [95, "lost_success", null], [96, "success", null], [111, "lost_success", null], [112, "success", null], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null], [170, "success", null], [186, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 33, + "task_plan_idx": 112, + "init_config_idx": 113, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13], "collision", [148.23, 218.15]], [16, "contact", null], [17, "grasped", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [[74, 77, 78], "collision", [212.17, 105.76, 12.57]], [131, "lost_success", null], [132, "success", null], [[161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [9.46, 19.26, 35.98, 30.3, 14.99, 26.53, 9.52, 3.14, 8.98, 13.63, 16.43, 12.67, 13.27, 12.49]], [184, "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": 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": 33, + "task_plan_idx": 152, + "init_config_idx": 52, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14, 15, 16], "collision", [59.95, 93.56, 141.86, 239.21]], [19, "contact", null], [19, "grasped", null], [52, "success", null], [53, "lost_success", null], [57, "success", null], [59, "lost_success", null], [77, "success", null], [82, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 33, + "task_plan_idx": 89, + "init_config_idx": 104, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [108.56]], [23, "contact", null], [24, "lost_contact", null], [[24], "collision", [169.69]], [25, "contact", null], [[25, 26], "collision", [173.81, 167.82]], [27, "grasped", null], [[27, 28, 29, 30, 31], "collision", [220.77, 73.35, 69.83, 35.88, 20.61]], [58, "success", null], [69, "lost_success", null], [73, "success", null], [75, "lost_success", null], [76, "success", null], [81, "lost_success", null], [83, "success", null], [[88, 89, 90, 91, 92, 93, 95, 96], "collision", [25.84, 14.53, 25.29, 20.43, 30.67, 9.95, 9.02, 4.6]], [97, "lost_success", null], [[97], "collision", [6.29]], [98, "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, 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", [12.33, 14.11, 9.61, 17.12, 28.3, 31.55, 44.8, 42.0, 49.02, 57.65, 49.21, 46.45, 37.15, 31.65, 30.35, 31.97, 33.72, 32.05, 36.75, 27.24, 32.92, 38.28, 41.53, 38.9, 43.18, 33.06, 27.95, 36.88, 28.15, 26.2, 43.69, 43.06, 39.59, 39.04, 29.05, 34.31, 43.34, 37.89, 26.2, 33.86, 44.78, 45.32, 37.97, 47.24, 41.9, 39.36, 46.06, 47.05, 38.84, 45.0, 55.68, 55.2, 40.12, 44.68, 46.56, 36.38, 33.53, 38.23, 34.04, 55.58, 51.99, 47.88, 40.24, 44.97, 39.33, 39.78, 32.18, 35.1, 45.68, 39.58, 33.51, 43.33, 35.9, 36.42, 35.47, 40.95, 34.7, 32.38, 31.8, 48.27, 41.6, 43.76, 42.0, 43.76, 38.15, 40.3, 44.56, 29.3, 35.12, 39.31, 34.56, 53.47, 31.8, 41.07, 43.04, 34.4, 34.01, 47.67, 50.2]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 34, + "task_plan_idx": 56, + "init_config_idx": 155, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [[21, 22, 23, 24, 25, 26], "collision", [413.2, 294.68, 225.06, 108.91, 141.09, 92.45]], [27, "success", null], [28, "lost_success", null], [[28, 29, 30, 31, 32], "collision", [103.33, 72.27, 67.27, 61.99, 61.2]], [33, "success", null], [[33, 34], "collision", [66.84, 73.24]], [35, "lost_success", null], [[35, 36, 37, 38, 39, 40, 41], "collision", [86.04, 102.43, 135.03, 159.79, 186.5, 168.78, 110.91]], [68, "success", null], [[124, 127], "collision", [16.88, 5.62]], [143, "lost_success", null], [144, "success", null], [152, "lost_success", null], [154, "success", null], [156, "lost_success", null], [157, "success", null], [160, "lost_success", null], [161, "success", null], [190, "lost_success", null], [191, "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": 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": 34, + "task_plan_idx": 29, + "init_config_idx": 84, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 16], "collision", [1200.29, 96.24, 50.36, 2.89]], [17, "contact", null], [17, "grasped", null], [31, "success", null], [43, "lost_success", null], [44, "success", null], [57, "lost_success", null], [68, "success", null], [69, "lost_success", null], [72, "success", null], [74, "lost_success", null], [75, "success", null], [76, "lost_success", null], [77, "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": 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": 34, + "task_plan_idx": 3, + "init_config_idx": 111, + "spawn_selection_idx": 35, + "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], [41, "lost_success", null], [44, "success", null], [[55, 56], "collision", [6.01, 15.29]], [57, "lost_success", null], [64, "success", null], [102, "lost_success", null], [113, "success", null], [124, "lost_success", null], [125, "success", null], [145, "lost_success", null], [155, "success", null], [156, "lost_success", null], [159, "success", null], [160, "lost_success", null], [162, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [175, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "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": 35, + "task_plan_idx": 20, + "init_config_idx": 55, + "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], "collision", [534.65, 290.84, 226.4]], [14, "contact", null], [14, "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], "collision", [39.63, 30.92, 7.02, 5.4, 3.33, 13.09, 5.92, 9.73, 9.97, 9.26, 9.41, 7.61, 8.72, 8.88, 9.26, 9.25, 9.83, 9.54, 9.56, 9.33, 8.68, 8.84, 10.45, 9.68, 9.79]], [44, "success", null], [[44, 45, 46, 47, 48, 49], "collision", [9.51, 9.46, 9.68, 9.6, 10.11, 9.52]], [50, "lost_success", null], [[50], "collision", [9.96]], [51, "success", null], [[51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "collision", [10.03, 11.3, 9.74, 10.91, 8.86, 11.26, 10.96, 8.3, 9.06, 10.09, 10.43, 11.24]], [63, "lost_success", null], [[63], "collision", [10.7]], [64, "success", null], [[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], "collision", [11.4, 10.87, 10.8, 10.77, 11.32, 10.01, 10.84, 10.52, 10.1, 10.06, 10.03, 10.97, 10.35, 10.59, 11.24, 10.39, 10.28, 10.89, 10.82, 10.98, 10.25, 11.0, 11.05, 11.12, 10.95, 10.46, 10.23, 10.67, 10.05, 9.49, 10.33, 10.92, 9.76, 10.64, 11.46, 10.28, 10.28, 10.35, 10.42, 10.43, 10.77, 10.32, 10.07, 10.41, 11.52, 11.36, 10.78, 11.3, 10.38, 11.26, 10.34, 11.1, 10.22, 9.75, 9.71, 10.31, 10.63, 1.0]], [122, "lost_success", null], [[122], "collision", [0.39]], [123, "success", null], [[124, 126, 127, 129, 133, 134, 135, 136, 137, 138], "collision", [0.26, 0.21, 0.17, 0.11, 0.26, 0.18, 0.26, 0.19, 0.16, 0.33]], [139, "lost_success", null], [[139], "collision", [0.46]], [140, "success", null], [[144, 146], "collision", [0.17, 0.02]], [148, "lost_success", null], [149, "success", null], [[150, 156], "collision", [0.14, 0.06]], [158, "lost_success", null], [[158], "collision", [0.2]], [162, "success", null], [[164, 168, 169, 170, 171, 172, 173], "collision", [0.1, 0.11, 0.21, 0.29, 0.25, 0.3, 0.07]], [178, "lost_success", null], [179, "success", null], [180, "lost_success", null], [181, "success", null], [182, "lost_success", null], [[183], "collision", [0.01]], [184, "success", null], [[184, 185, 186], "collision", [0.13, 0.03, 0.09]], [187, "lost_success", null], [188, "success", null], [[190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.08, 0.03, 0.08, 0.24, 0.22, 0.06, 0.14, 0.12, 0.19, 0.28]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 92, + "init_config_idx": 4, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 27], "collision", [573.42, 237.17]], [30, "contact", null], [[30], "collision", [95.99]], [31, "grasped", null], [52, "success", null], [53, "lost_success", null], [59, "success", null], [73, "lost_success", null], [85, "success", null], [112, "lost_success", null], [113, "success", null], [117, "lost_success", null], [118, "success", null], [119, "lost_success", null], [120, "success", null], [123, "lost_success", null], [[137, 138, 140, 142, 143, 144], "collision", [101.95, 16.05, 6.24, 40.14, 60.1, 62.61]], [145, "success", null], [[145, 146, 147], "collision", [65.18, 65.14, 73.02]], [148, "lost_success", null], [[148], "collision", [68.08]], [149, "success", null], [[149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167], "collision", [70.86, 70.56, 69.26, 71.12, 73.07, 69.55, 72.69, 71.04, 69.67, 70.29, 42.47, 40.11, 38.9, 39.41, 38.25, 39.83, 39.63, 38.96, 38.95]], [168, "lost_success", null], [[168], "collision", [37.04]], [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", [38.36, 38.35, 38.93, 40.7, 39.15, 39.96, 40.92, 41.47, 40.79, 41.37, 40.55, 39.05, 39.59, 41.89, 39.55, 40.75, 38.75, 38.08, 38.82, 39.71, 41.05, 42.52, 40.11, 40.02, 41.44, 51.02, 41.87, 43.29, 42.69, 41.27, 42.0]]], + "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": 35, + "task_plan_idx": 80, + "init_config_idx": 98, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [423.57, 165.6]], [23, "contact", null], [23, "grasped", null], [51, "success", null], [69, "lost_success", null], [70, "success", null], [[107, 108, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 166, 167, 168, 169, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [51.62, 59.12, 49.03, 102.23, 52.0, 39.28, 55.92, 73.38, 90.55, 72.95, 87.72, 85.68, 99.36, 63.21, 64.65, 41.92, 45.38, 62.9, 52.61, 51.23, 32.2, 40.62, 28.28, 53.41, 37.15, 27.79, 14.16, 19.6, 55.71, 54.33, 19.91, 27.95, 32.86, 28.98, 14.96, 30.11, 25.66, 19.07, 8.18, 35.25, 71.28, 59.87, 71.44, 77.65, 71.92, 98.24, 95.96, 79.37, 81.32, 102.87]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 36, + "task_plan_idx": 125, + "init_config_idx": 137, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [27, "success", null], [[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", [46.18, 35.61, 43.95, 46.09, 40.6, 36.09, 32.5, 42.77, 38.21, 51.7, 47.58, 47.27, 47.77, 53.64, 53.53, 48.88, 43.72, 26.86, 23.48, 23.64, 19.73, 21.69, 22.27, 25.87, 25.04, 25.88, 24.84, 26.54, 28.63, 22.24, 13.31]], [100, "lost_success", null], [[100], "collision", [17.93]], [101, "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, 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", [20.4, 20.36, 26.67, 24.83, 28.45, 27.53, 24.58, 24.96, 17.52, 17.96, 20.7, 24.46, 24.19, 23.41, 23.06, 23.92, 22.72, 24.74, 25.76, 26.23, 32.05, 35.09, 33.77, 30.09, 22.33, 20.46, 13.9, 13.82, 14.32, 16.44, 24.8, 22.61, 24.46, 21.71, 19.29, 17.8, 20.97, 24.13, 24.14, 23.61, 24.03, 22.06, 21.45, 21.47, 25.78, 22.77, 22.17, 17.83, 12.97, 14.14, 14.72, 14.51, 14.22, 14.22, 14.59, 15.06, 14.01, 13.95, 16.8, 20.02, 18.74, 16.82, 14.19, 10.68, 11.48, 12.95, 13.03, 18.67, 18.04, 18.36, 17.02, 17.37, 16.71, 20.5, 19.33, 20.54, 20.13, 19.89, 18.52, 20.56, 20.0, 21.84, 22.71, 21.48, 21.57, 22.95, 21.45, 21.67, 22.11, 23.02, 22.5, 22.8, 23.82, 22.73, 23.61, 25.4, 32.59, 33.8, 34.56]]], + "articulation_type": "fridge", + "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": 36, + "task_plan_idx": 32, + "init_config_idx": 30, + "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, 21], "collision", [806.71, 126.1, 567.28, 148.48]], [22, "contact", null], [24, "grasped", null], [56, "success", null], [66, "lost_success", null], [71, "success", null], [85, "lost_success", null], [91, "success", null], [98, "lost_success", null], [105, "success", null], [106, "lost_success", null], [107, "success", null], [109, "lost_success", null], [[134], "collision", [110.32]], [135, "success", null], [[135], "collision", [88.48]], [136, "lost_success", null], [[136, 137], "collision", [28.67, 74.96]], [138, "success", null], [[138, 139, 140, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152], "collision", [63.05, 12.67, 15.61, 27.35, 41.15, 16.82, 74.96, 48.45, 42.77, 28.12, 19.96, 6.5, 12.85, 7.83]], [155, "lost_success", null], [156, "success", null], [170, "lost_success", null]], + "articulation_type": "fridge", + "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": 37, + "task_plan_idx": 149, + "init_config_idx": 133, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 17, 20], "collision", [190.2, 1324.01, 379.3]], [22, "contact", null], [23, "lost_contact", null], [24, "contact", null], [24, "grasped", null], [48, "success", null], [59, "lost_success", null], [60, "success", null], [111, "lost_success", null], [132, "success", null], [138, "lost_success", null], [145, "success", null], [148, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "success", null], [176, "lost_success", null], [177, "success", null], [180, "lost_success", null], [186, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 38, + "task_plan_idx": 90, + "init_config_idx": 35, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 16, 17, 18], "collision", [95.19, 342.46, 95.35, 212.68, 69.32]], [21, "contact", null], [21, "grasped", null], [[21], "collision", [0.27]], [49, "success", null], [53, "lost_success", null], [[53], "collision", [4.17]], [54, "success", null], [[54, 55, 56, 57, 58, 59, 60], "collision", [13.18, 24.66, 19.35, 25.01, 22.95, 22.56, 25.11]], [62, "lost_success", null], [[62], "collision", [8.04]], [63, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 91, 92, 93, 94, 95, 96, 97, 112], "collision", [79.29, 7.42, 13.58, 18.17, 12.23, 8.8, 12.44, 12.49, 32.93, 14.29, 17.16, 17.16, 25.09, 11.41, 2.69, 10.73]], [113, "lost_success", null], [[113, 114, 115], "collision", [15.18, 12.18, 11.11]], [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, 150, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 169, 170, 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", [6.02, 7.11, 17.96, 10.9, 20.47, 18.83, 21.36, 42.82, 46.13, 39.27, 49.23, 45.01, 40.79, 33.73, 36.2, 31.71, 30.58, 32.52, 30.46, 28.07, 29.26, 26.03, 20.39, 16.11, 13.1, 1.34, 4.17, 1.74, 5.77, 9.62, 10.44, 11.48, 6.82, 6.6, 15.06, 12.49, 9.07, 6.66, 5.17, 5.37, 2.46, 10.93, 11.73, 9.44, 5.69, 5.17, 4.5, 9.11, 10.19, 13.46, 13.8, 10.41, 16.34, 26.37, 24.28, 22.5, 26.32, 27.91, 29.79, 20.52, 25.33, 26.12, 26.72, 21.32, 17.18, 16.3, 16.59, 14.98]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 39, + "task_plan_idx": 10, + "init_config_idx": 40, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [1388.51]], [10, "contact", null], [12, "grasped", null], [[18, 19], "collision", [1052.13, 139.66]], [40, "success", null], [43, "lost_success", null], [47, "success", null], [89, "lost_success", null], [90, "success", null], [91, "lost_success", null], [93, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [110, "success", null], [120, "lost_success", null], [121, "success", null], [122, "lost_success", null], [124, "success", null], [125, "lost_success", null], [126, "success", null], [[168], "collision", [0.58]], [169, "lost_success", null], [171, "success", null], [172, "lost_success", null], [173, "success", null], [175, "lost_success", null], [180, "success", null], [182, "lost_success", null], [187, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 40, + "task_plan_idx": 1, + "init_config_idx": 75, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 14], "collision", [114.88, 105.36, 231.09]], [16, "contact", null], [16, "grasped", null], [[23, 24], "collision", [18.48, 78.7]], [30, "success", null], [40, "lost_success", null], [42, "success", null], [[50, 51, 52, 53, 54, 55], "collision", [106.12, 144.45, 111.25, 161.01, 155.18, 157.21]], [56, "lost_success", null], [[56], "collision", [21.96]], [57, "success", null], [[57], "collision", [41.23]], [58, "lost_success", null], [[58], "collision", [5.32]], [61, "success", null], [65, "lost_success", null], [72, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87], "collision", [18.62, 51.81, 85.41, 56.97, 50.92, 41.68, 61.31, 64.39]], [88, "lost_success", null], [89, "success", null], [108, "lost_success", null], [110, "success", null], [121, "lost_success", null], [147, "success", null], [163, "lost_success", null], [164, "success", null], [179, "lost_success", null], [180, "success", null], [192, "lost_success", null], [193, "success", null], [194, "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": 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": 41, + "task_plan_idx": 47, + "init_config_idx": 97, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6], "collision", [415.25, 206.78, 226.67, 257.52]], [12, "contact", null], [12, "grasped", null], [25, "success", null], [28, "lost_success", null], [29, "success", null], [52, "lost_success", null], [53, "success", null], [101, "lost_success", null], [102, "success", null], [104, "lost_success", null], [105, "success", null], [112, "lost_success", null], [113, "success", null], [117, "lost_success", null], [119, "success", null], [121, "lost_success", null], [122, "success", null], [123, "lost_success", null], [125, "success", null], [140, "lost_success", null], [143, "success", null], [144, "lost_success", null], [145, "success", null], [146, "lost_success", null], [147, "success", null], [148, "lost_success", null], [149, "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": 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": 41, + "task_plan_idx": 147, + "init_config_idx": 156, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22], "collision", [338.71]], [23, "contact", null], [25, "grasped", null], [[25, 26], "collision", [1377.76, 268.14]], [47, "success", null], [88, "lost_success", null], [91, "success", null], [96, "lost_success", null], [97, "success", null], [114, "lost_success", null], [117, "success", null], [158, "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": 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": 42, + "task_plan_idx": 8, + "init_config_idx": 67, + "spawn_selection_idx": 99, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 20], "collision", [116.69, 32.63]], [23, "contact", null], [23, "grasped", null], [56, "success", null], [57, "lost_success", null], [59, "success", null], [60, "lost_success", null], [66, "success", null], [74, "lost_success", null], [77, "success", null], [80, "lost_success", null], [[87, 88], "collision", [199.62, 77.35]], [89, "success", null], [[89, 90], "collision", [48.03, 39.88]], [93, "lost_success", null], [102, "success", null], [103, "lost_success", null], [105, "success", null], [106, "lost_success", null], [107, "success", null], [113, "lost_success", null], [149, "success", null], [150, "lost_success", null], [168, "success", null], [172, "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": 42, + "task_plan_idx": 3, + "init_config_idx": 115, + "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], [13, "grasped", null], [28, "success", null], [30, "lost_success", null], [33, "success", null], [37, "lost_success", null], [42, "success", null], [58, "lost_success", null], [59, "success", null], [60, "lost_success", null], [67, "success", null], [68, "lost_success", null], [76, "success", null], [126, "lost_success", null], [127, "success", null], [131, "lost_success", null], [132, "success", null], [135, "lost_success", null], [136, "success", null], [139, "lost_success", null], [140, "success", null], [145, "lost_success", null], [146, "success", null], [154, "lost_success", null], [155, "success", null], [156, "lost_success", null], [157, "success", null], [163, "lost_success", null], [164, "success", null], [174, "lost_success", null], [175, "success", null], [181, "lost_success", null], [182, "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": 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": 43, + "task_plan_idx": 55, + "init_config_idx": 35, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 9], "collision", [511.97, 246.59, 135.29, 18.98]], [15, "contact", null], [15, "grasped", null], [26, "success", null], [27, "lost_success", null], [28, "success", null], [96, "lost_success", null], [100, "success", null], [103, "lost_success", null], [105, "success", null], [107, "lost_success", null], [112, "success", null], [118, "lost_success", null], [138, "success", null], [146, "lost_success", null], [147, "success", null], [[188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [90.4, 90.65, 94.54, 94.51, 90.32, 86.94, 87.24, 78.91, 81.49, 80.99, 80.34, 81.01]]], + "articulation_type": "fridge", + "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": 44, + "task_plan_idx": 31, + "init_config_idx": 125, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "collision", [39.64, 48.15, 40.61, 11.12, 9.44, 12.72, 12.19, 12.05, 11.97, 11.68, 10.88, 11.44, 10.27, 10.05, 76.12]], [31, "success", null], [[31], "collision", [95.2]], [32, "lost_success", null], [[32, 33, 34, 35], "collision", [174.94, 122.27, 14.25, 22.69]], [36, "success", null], [[36, 37, 38, 39], "collision", [12.01, 13.45, 18.28, 22.11]], [40, "lost_success", null], [[40], "collision", [13.69]], [41, "success", null], [[41, 42, 43, 44], "collision", [20.48, 15.82, 70.46, 75.94]], [45, "lost_success", null], [[45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56], "collision", [53.48, 32.13, 6.35, 19.45, 28.29, 27.02, 10.72, 10.53, 10.11, 17.52, 17.33, 17.63]], [57, "success", null], [[57], "collision", [17.4]], [58, "lost_success", null], [[58], "collision", [17.53]], [59, "success", null], [[59, 60], "collision", [17.66, 18.17]], [61, "lost_success", null], [[61, 62, 63], "collision", [17.79, 18.34, 18.64]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [17.89, 17.25, 17.75, 17.46, 17.17, 17.26, 17.14, 17.02, 17.59, 17.72, 17.87, 17.45, 17.34, 17.58, 17.73, 17.28, 17.14, 17.79, 16.79]], [83, "lost_success", null], [[83], "collision", [16.88]], [84, "success", null], [[84, 85, 86, 87, 88, 89], "collision", [17.44, 18.25, 17.22, 17.68, 17.83, 18.17]], [90, "lost_success", null], [[90], "collision", [16.9]], [91, "success", null], [[91, 92], "collision", [17.77, 17.07]], [93, "lost_success", null], [[93], "collision", [17.59]], [94, "success", null], [[94, 95, 96], "collision", [16.86, 17.66, 17.26]], [97, "lost_success", null], [[97], "collision", [17.45]], [98, "success", null], [[98], "collision", [17.25]], [99, "lost_success", null], [[99], "collision", [17.67]], [100, "success", null], [[100, 101], "collision", [16.72, 18.12]], [102, "lost_success", null], [[102, 103], "collision", [17.21, 16.95]], [104, "success", null], [[104], "collision", [16.72]], [105, "lost_success", null], [[105], "collision", [16.45]], [106, "success", null], [[106, 107], "collision", [16.69, 16.52]], [108, "lost_success", null], [[108, 109, 110, 111, 112, 113], "collision", [17.23, 10.12, 17.67, 13.32, 17.9, 10.9]], [114, "success", null], [[114, 115], "collision", [16.29, 16.29]], [116, "lost_success", null], [[116], "collision", [17.23]], [117, "success", null], [[117, 118, 119, 120, 121, 122], "collision", [9.89, 17.32, 17.26, 17.23, 17.03, 16.75]], [123, "lost_success", null], [[123], "collision", [16.82]], [124, "success", null], [[124], "collision", [15.61]], [125, "lost_success", null], [[125], "collision", [18.07]], [126, "success", null], [[126, 127, 128, 129], "collision", [17.01, 17.63, 17.33, 16.64]], [130, "lost_success", null], [[130, 131, 132], "collision", [17.12, 9.82, 17.8]], [133, "success", null], [[133], "collision", [17.08]], [134, "lost_success", null], [[134], "collision", [17.41]], [135, "success", null], [[135], "collision", [17.33]], [136, "lost_success", null], [[136], "collision", [16.44]], [137, "success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [16.69, 17.47, 16.75, 17.38, 17.13, 17.69, 17.46, 17.47, 16.89]], [146, "lost_success", null], [[146, 147], "collision", [17.36, 10.39]], [148, "success", null], [[148, 149], "collision", [17.28, 16.56]], [150, "lost_success", null], [[150], "collision", [17.73]], [151, "success", null], [[151], "collision", [16.77]], [152, "lost_success", null], [[152], "collision", [17.82]], [153, "success", null], [[153], "collision", [17.36]], [154, "lost_success", null], [[154], "collision", [17.41]], [155, "success", null], [[155, 156, 157], "collision", [17.62, 18.02, 16.69]], [158, "lost_success", null], [[158], "collision", [17.5]], [159, "success", null], [[159], "collision", [17.58]], [160, "lost_success", null], [[160], "collision", [23.24]], [161, "success", null], [[161, 162, 163, 164, 165, 166], "collision", [60.51, 33.87, 11.27, 22.32, 36.25, 20.22]], [167, "lost_success", null], [[167], "collision", [11.02]], [168, "success", null], [[168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178], "collision", [10.65, 11.05, 27.29, 26.15, 33.93, 36.19, 11.02, 35.61, 10.47, 14.06, 10.32]], [179, "lost_success", null], [[179], "collision", [10.4]], [180, "success", null], [[180], "collision", [9.94]], [181, "lost_success", null], [[181], "collision", [11.11]], [182, "success", null], [[182, 183, 184, 185, 186, 187], "collision", [10.22, 43.37, 10.27, 16.63, 34.17, 31.03]], [188, "lost_success", null], [[188], "collision", [9.43]], [189, "success", null], [[189], "collision", [10.79]], [190, "lost_success", null], [[190], "collision", [10.16]], [191, "success", null], [[191, 192, 193], "collision", [87.86, 64.44, 10.27]], [194, "lost_success", null], [[194, 195, 196, 197, 198, 199], "collision", [10.49, 10.37, 11.76, 10.6, 10.85, 10.67]]], + "articulation_type": "fridge", + "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": 45, + "task_plan_idx": 33, + "init_config_idx": 163, + "spawn_selection_idx": 57, + "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", [457.92, 132.91, 153.49, 888.98, 154.34, 243.67]], [14, "contact", null], [14, "grasped", null], [[17], "collision", [11.73]], [34, "success", null], [39, "lost_success", null], [40, "success", null], [157, "lost_success", null], [158, "success", null], [160, "lost_success", null], [162, "success", null], [163, "lost_success", null], [164, "success", null], [190, "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": 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": 45, + "task_plan_idx": 66, + "init_config_idx": 37, + "spawn_selection_idx": 40, + "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], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [61, "lost_success", null], [62, "success", null], [76, "lost_success", null], [77, "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": 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": 46, + "task_plan_idx": 85, + "init_config_idx": 53, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 17, 18, 19], "collision", [108.77, 504.3, 331.63, 485.2]], [23, "contact", null], [23, "grasped", null], [[42, 43, 44, 45, 46, 47, 48], "collision", [35.05, 64.87, 54.93, 48.28, 46.91, 49.7, 38.3]], [49, "success", null], [[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, 194, 195, 196, 197, 198, 199], "collision", [59.51, 59.49, 63.27, 43.79, 59.83, 52.25, 48.3, 44.95, 42.76, 61.18, 80.56, 61.69, 62.22, 71.03, 60.6, 57.05, 53.12, 52.25, 51.01, 45.19, 23.44, 12.85, 15.87, 9.88, 9.95, 8.42, 8.62, 10.26, 9.32, 8.84, 9.97, 8.48, 10.59, 9.04, 10.76, 10.4, 16.44, 16.8, 14.33, 8.97, 7.89, 9.47, 11.17, 10.42, 8.05, 9.27, 10.21, 9.13, 7.38, 9.86, 7.79, 10.37, 8.26, 8.36, 9.24, 11.42, 12.58, 10.81, 12.24, 16.59, 14.48, 14.43, 18.11, 17.13, 19.48, 19.48, 16.43, 8.43, 10.9, 8.68, 12.83, 15.89, 13.56, 12.96, 16.58, 18.52, 19.03, 18.05, 16.14, 20.82, 19.12, 21.33, 22.5, 19.68, 18.34, 15.78, 11.61, 13.29, 9.49, 16.23, 14.54, 16.59, 17.46, 16.69, 14.95, 15.16, 19.44, 26.99, 21.63, 20.25, 21.05, 20.48, 19.52, 16.61, 19.38, 21.15, 18.78, 19.92, 17.23, 18.05, 20.06, 17.34, 18.19, 17.65, 19.33, 18.89, 17.24, 16.17, 13.77, 13.43, 13.21, 12.87, 11.54, 14.64, 13.01, 11.84, 10.75, 10.98, 10.91, 10.43, 9.08, 9.92, 9.74, 10.68, 9.06, 10.74, 9.36, 9.04, 8.4, 10.15, 7.38, 10.62, 8.69, 8.34, 9.82, 12.38, 10.6, 11.45, 10.95, 13.04, 11.82]]], + "articulation_type": "fridge", + "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": 47, + "task_plan_idx": 17, + "init_config_idx": 120, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 10, 11, 12], "collision", [1599.18, 138.47, 136.66, 1308.93]], [13, "contact", null], [15, "grasped", null], [39, "success", null], [40, "lost_success", null], [42, "success", null], [43, "lost_success", null], [45, "success", null], [46, "lost_success", null], [[81], "collision", [157.51]], [87, "success", null], [[87, 89, 90, 91, 92, 93, 94, 95], "collision", [201.21, 115.2, 58.74, 37.87, 42.95, 3.48, 0.13, 16.16]], [96, "lost_success", null], [97, "success", null], [[97, 98], "collision", [21.17, 16.23]], [101, "lost_success", null], [102, "success", null], [104, "lost_success", null], [106, "success", null], [108, "lost_success", null], [109, "success", null], [110, "lost_success", null], [111, "success", null], [167, "lost_success", null], [173, "success", null], [174, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 47, + "task_plan_idx": 30, + "init_config_idx": 157, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 15, 16, 17, 19], "collision", [282.68, 138.47, 445.89, 12.21, 30.46]], [20, "contact", null], [20, "grasped", null], [[20], "collision", [408.97]], [41, "success", null], [56, "lost_success", null], [57, "success", null], [[85, 93], "collision", [237.84, 9.0]], [134, "lost_success", null], [135, "success", null], [136, "lost_success", null], [137, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [153, "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": 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": 48, + "task_plan_idx": 17, + "init_config_idx": 96, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[30], "collision", [26.5]], [31, "success", null], [[31], "collision", [0.2]], [32, "lost_success", null], [36, "success", null], [[125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146], "collision", [0.77, 6.32, 12.3, 18.07, 25.17, 25.48, 25.35, 26.44, 26.58, 23.94, 26.52, 24.13, 24.92, 24.52, 19.09, 55.79, 35.91, 59.96, 47.44, 47.44, 42.48, 45.12]], [147, "lost_success", null], [[147], "collision", [41.24]], [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], "collision", [38.53, 34.3, 45.53, 47.86, 46.77, 48.67, 46.14, 41.62, 36.89, 32.82, 30.56, 29.03, 27.05, 33.58, 35.69, 38.23, 36.19, 37.67, 36.8, 39.34, 39.6, 38.97, 39.12, 38.41, 39.06]], [173, "lost_success", null], [[173, 174], "collision", [37.75, 38.79]], [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", [39.12, 38.85, 38.58, 39.05, 38.28, 38.39, 39.15, 38.72, 38.15, 38.53, 38.41, 39.62, 37.92, 38.98, 38.45, 38.72, 38.97, 38.58, 38.33, 38.48, 38.24, 38.52, 38.54, 38.19, 38.7]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 48, + "task_plan_idx": 43, + "init_config_idx": 81, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 13, 15, 16, 17], "collision", [40.61, 285.09, 54.97, 93.21, 62.49, 685.59]], [19, "contact", null], [[19, 20], "collision", [302.54, 287.72]], [22, "grasped", null], [48, "success", null], [49, "lost_success", null], [50, "success", null], [107, "lost_success", null], [108, "success", null], [131, "lost_success", null], [132, "success", null], [133, "lost_success", null], [134, "success", null], [136, "lost_success", null], [140, "success", null], [144, "lost_success", null], [145, "success", null], [152, "lost_success", null], [153, "success", null], [154, "lost_success", null], [157, "success", null], [165, "lost_success", null], [167, "success", null], [179, "lost_success", null], [181, "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": 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": 49, + "task_plan_idx": 67, + "init_config_idx": 118, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 8, 9, 10], "collision", [78.69, 195.74, 182.48, 168.0, 156.38, 54.67]], [14, "contact", null], [15, "grasped", null], [42, "success", null], [48, "lost_success", null], [49, "success", null], [52, "lost_success", null], [59, "success", null], [86, "lost_success", null], [87, "success", null], [95, "lost_success", null], [96, "success", null], [[103, 107, 109, 110, 112, 113], "collision", [358.0, 195.21, 5.63, 30.28, 48.75, 7.48]], [115, "lost_success", null], [[115, 116, 117, 118], "collision", [12.24, 2.16, 25.23, 74.94]], [127, "success", null], [129, "lost_success", null], [131, "success", null], [133, "lost_success", null], [136, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 49, + "task_plan_idx": 35, + "init_config_idx": 112, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 5, 6], "collision", [28.09, 98.28, 66.18]], [12, "contact", null], [12, "grasped", null], [25, "success", null], [31, "lost_success", null], [33, "success", null], [46, "lost_success", null], [49, "success", null], [[52], "collision", [131.88]], [53, "lost_success", null], [[53], "collision", [63.38]], [54, "success", null], [[55, 56], "collision", [33.37, 71.29]], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [63, "success", null], [72, "lost_success", null], [77, "success", null], [78, "lost_success", null], [84, "success", null], [[108, 109, 110, 111, 113, 114, 115, 116, 117], "collision", [22.95, 16.8, 14.62, 8.02, 3.92, 0.97, 0.63, 8.39, 3.48]], [121, "lost_success", null], [122, "success", null], [132, "lost_success", null], [133, "success", null], [191, "lost_success", null], [193, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 105, + "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": [[[6, 7, 8, 9], "collision", [401.98, 270.7, 215.9, 237.16]], [11, "contact", null], [12, "grasped", null], [37, "success", null], [38, "lost_success", null], [39, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [50, "success", null], [56, "lost_success", null], [57, "success", null], [86, "lost_success", null], [89, "success", null], [91, "lost_success", null], [92, "success", null], [116, "lost_success", null], [121, "success", null], [130, "lost_success", null], [131, "success", null], [134, "lost_success", null], [138, "success", null], [142, "lost_success", null], [143, "success", null], [146, "lost_success", null], [147, "success", null], [150, "lost_success", null], [154, "success", null], [156, "lost_success", null], [157, "success", null], [158, "lost_success", null], [163, "success", null], [173, "lost_success", null], [178, "success", null], [185, "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": 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": 50, + "task_plan_idx": 137, + "init_config_idx": 32, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [27, "success", null], [28, "lost_success", null], [29, "success", null], [[79], "collision", [45.65]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 59, + "init_config_idx": 117, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [315.32, 264.89]], [13, "contact", null], [15, "grasped", null], [25, "success", null], [44, "lost_success", null], [45, "success", null], [[66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 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], "collision", [1.52, 20.93, 39.58, 55.7, 70.35, 79.52, 62.75, 44.82, 39.89, 44.39, 44.87, 29.38, 71.92, 105.19, 47.98, 23.28, 81.68, 15.69, 34.39, 104.21, 35.94, 38.05, 27.43, 27.92, 12.11, 5.17, 23.73, 73.72, 63.62, 50.49, 32.11, 59.98, 31.19, 44.9, 59.63, 63.95, 48.95, 87.78, 89.56, 108.48, 97.49, 37.29, 45.33, 34.93, 0.51, 48.37, 3.25, 11.25, 22.5, 15.63, 50.31, 69.85, 67.77, 26.71, 53.82, 88.05]]], + "articulation_type": "fridge", + "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": 50, + "task_plan_idx": 135, + "init_config_idx": 101, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[17, 18, 19, 20, 21, 29], "collision", [15.6, 26.7, 39.33, 27.58, 16.5, 32.3]], [33, "success", null], [34, "lost_success", null], [[45, 46, 49, 50, 51, 52, 53, 54, 56, 59], "collision", [27.66, 127.37, 13.6, 60.94, 2.85, 19.91, 15.44, 20.8, 23.87, 17.3]], [62, "success", null], [[62], "collision", [25.93]], [63, "lost_success", null], [65, "success", null], [[65], "collision", [0.49]], [68, "lost_success", null], [72, "success", null], [[78, 79, 80, 82, 84, 85, 86, 87, 94, 125, 126, 127, 129, 131, 132, 133, 134, 135, 136, 137, 138, 139, 141, 143, 145, 146, 148, 149, 150, 151, 152, 153, 154, 155, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 170, 173, 174, 177, 178], "collision", [15.76, 3.83, 17.29, 14.88, 0.07, 1.64, 12.23, 5.06, 7.42, 16.94, 11.46, 9.08, 1.97, 29.84, 43.14, 45.28, 26.3, 0.76, 14.55, 9.15, 3.68, 13.79, 11.12, 1.0, 2.36, 35.18, 14.52, 7.37, 63.65, 26.98, 26.76, 41.94, 30.37, 44.86, 44.93, 86.91, 130.62, 70.16, 59.2, 80.11, 98.1, 38.94, 62.65, 26.3, 11.01, 30.11, 115.7, 45.91, 29.97, 7.67]], [179, "lost_success", null], [181, "success", null], [182, "lost_success", null], [[185], "collision", [0.73]], [187, "success", null], [[187], "collision", [190.9]], [188, "lost_success", null], [[188], "collision", [48.5]], [189, "success", null], [[189, 190, 191], "collision", [114.45, 97.79, 468.7]], [192, "lost_success", null], [[192, 193], "collision", [158.26, 161.8]], [194, "success", null], [[194], "collision", [276.33]], [195, "lost_success", null], [[195, 196], "collision", [331.3, 285.81]], [197, "success", null], [[197], "collision", [162.49]], [198, "lost_success", null], [[198], "collision", [21.58]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 52, + "task_plan_idx": 4, + "init_config_idx": 118, + "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], [18, "grasped", null], [34, "success", null], [35, "lost_success", null], [38, "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, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [29.06, 28.87, 28.93, 29.47, 29.73, 29.27, 29.54, 30.7, 29.0, 29.12, 30.12, 29.69, 29.88, 29.32, 30.07, 29.68, 29.69, 43.42, 53.96, 59.2, 62.92, 51.09, 44.52, 45.17, 44.39, 66.66, 67.59, 24.13, 34.19, 49.26, 46.57, 38.99, 29.74, 28.23, 29.7, 32.12, 65.51, 45.2, 35.41, 10.9, 57.65]], [88, "lost_success", null], [[88, 89, 90, 91], "collision", [72.64, 41.36, 11.11, 30.14]], [92, "success", null], [[92, 93, 94, 95, 96, 97, 98, 100, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122], "collision", [26.85, 26.45, 26.98, 27.19, 25.28, 27.02, 22.87, 7.32, 24.02, 24.86, 24.86, 26.67, 26.7, 26.63, 27.01, 25.92, 26.1, 25.98, 25.91, 25.7, 27.23, 26.33, 25.47, 71.58, 59.28, 67.65, 77.08, 64.07]], [123, "lost_success", null], [[123, 124, 125], "collision", [73.5, 55.11, 30.58]], [172, "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": 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": 52, + "task_plan_idx": 115, + "init_config_idx": 44, + "spawn_selection_idx": 57, + "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", [523.55, 454.27, 238.53, 222.65, 204.23, 2.64, 38.37]], [12, "contact", null], [13, "grasped", null], [30, "success", null], [32, "lost_success", null], [34, "success", null], [80, "lost_success", null], [81, "success", null], [84, "lost_success", null], [85, "success", null], [119, "lost_success", null], [120, "success", null], [155, "lost_success", null], [156, "success", null], [157, "lost_success", null], [158, "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": 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": 54, + "task_plan_idx": 29, + "init_config_idx": 70, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [39, "success", null], [58, "lost_success", null], [59, "success", null], [146, "lost_success", null], [147, "success", null], [152, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null]], + "articulation_type": "fridge", + "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": 54, + "task_plan_idx": 19, + "init_config_idx": 112, + "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, 14], "collision", [203.64, 1205.02, 1203.12, 966.34]], [18, "contact", null], [19, "grasped", null], [40, "success", null], [[68, 70, 77, 78], "collision", [7.11, 10.4, 18.28, 2.61]], [117, "lost_success", null], [118, "success", null], [151, "lost_success", null], [152, "success", null], [153, "lost_success", null], [154, "success", null], [156, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [187, "lost_success", null], [188, "success", null], [190, "lost_success", null], [191, "success", null], [192, "lost_success", null], [193, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 55, + "task_plan_idx": 92, + "init_config_idx": 8, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4], "collision", [941.81]], [9, "contact", null], [10, "grasped", null], [18, "success", null], [23, "lost_success", null], [29, "success", null], [36, "lost_success", null], [49, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [75, "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, 156, 157, 158, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 186, 187, 188, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [5.99, 4.81, 17.68, 23.07, 31.96, 2.23, 5.74, 19.49, 23.1, 35.26, 28.22, 26.02, 25.99, 23.21, 13.88, 5.22, 4.23, 4.53, 5.25, 5.44, 7.67, 6.33, 8.01, 9.01, 8.34, 6.11, 6.63, 7.41, 6.56, 0.62, 1.01, 0.41, 0.44, 0.03, 0.01, 0.03, 0.63, 0.02, 0.0, 1.24, 0.09, 0.15, 0.92, 0.08, 1.22, 0.37, 0.99, 1.38, 0.73, 0.05, 0.8, 0.02, 1.73, 0.07, 0.12, 1.2, 0.97, 0.05, 0.14, 0.05, 0.0, 1.08, 0.33, 0.08, 1.05, 0.61, 0.1, 0.0, 1.56]]], + "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": 55, + "task_plan_idx": 13, + "init_config_idx": 91, + "spawn_selection_idx": 67, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4], "collision", [333.47]], [9, "contact", null], [10, "lost_contact", null], [11, "contact", null], [11, "grasped", null], [26, "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": 56, + "task_plan_idx": 44, + "init_config_idx": 76, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [1765.32, 170.26]], [12, "contact", null], [13, "grasped", null], [26, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 57, + "task_plan_idx": 147, + "init_config_idx": 55, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [369.4, 146.79]], [15, "contact", null], [16, "grasped", null], [[16], "collision", [3510.12]], [27, "success", null], [54, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [129, "lost_success", null], [132, "success", null], [133, "lost_success", null], [135, "success", null], [136, "lost_success", null], [141, "success", null], [143, "lost_success", null], [145, "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": 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": 58, + "task_plan_idx": 1, + "init_config_idx": 112, + "spawn_selection_idx": 29, + "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], [32, "lost_success", null], [33, "success", null], [68, "lost_success", null], [69, "success", null]], + "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": 58, + "task_plan_idx": 65, + "init_config_idx": 72, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [140.96, 161.39, 24.97, 9.14]], [18, "contact", null], [19, "grasped", null], [41, "success", null], [[46, 47, 48, 49, 50, 51, 52, 55, 56, 82, 87, 89, 90], "collision", [21.84, 73.05, 81.56, 42.31, 116.84, 144.24, 135.76, 28.8, 90.27, 10.19, 22.59, 17.72, 58.22]], [120, "lost_success", null], [121, "success", null], [122, "lost_success", null], [123, "success", null]], + "articulation_type": "fridge", + "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": 59, + "task_plan_idx": 79, + "init_config_idx": 92, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 13, 14, 15], "collision", [313.73, 229.48, 118.81, 185.76]], [19, "contact", null], [[19], "collision", [334.01]], [20, "grasped", null], [43, "success", null], [[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], "collision", [22.19, 32.51, 42.67, 31.12, 32.68, 33.12, 33.46, 33.78, 29.94, 28.86, 27.78, 26.86, 19.38, 14.29, 14.63, 23.71, 12.7, 26.34, 21.03, 23.54, 24.41, 24.21, 27.33, 25.57, 29.3, 26.6, 21.73, 17.91, 23.84, 10.34, 6.21, 10.13, 16.41, 19.21, 26.65, 25.61, 25.82, 29.51, 26.47, 24.22, 23.96, 18.32, 12.0, 16.16, 9.18, 17.6, 9.21, 3.89]], [121, "lost_success", null], [123, "success", null], [127, "lost_success", null], [129, "success", null], [137, "lost_success", null], [138, "success", null], [139, "lost_success", null], [143, "success", null], [144, "lost_success", null], [157, "success", null], [159, "lost_success", null], [161, "success", null], [162, "lost_success", null], [163, "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": 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": 59, + "task_plan_idx": 83, + "init_config_idx": 72, + "spawn_selection_idx": 76, + "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, 21, 22, 23, 24, 25, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [11.66, 8.84, 9.94, 0.08, 4.79, 6.66, 6.37, 7.57, 6.92, 9.12, 19.23, 21.37, 33.05, 74.98, 47.19, 1593.91, 68.29]], [37, "success", null], [[37], "collision", [133.13]], [38, "lost_success", null], [[38, 39], "collision", [102.23, 86.54]], [40, "success", null], [[40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [69.0, 111.08, 82.66, 60.64, 51.61, 46.47, 43.87, 40.46, 40.88, 27.97, 26.04, 14.42]], [52, "lost_success", null], [[52, 53, 54, 55, 56, 57, 58, 59], "collision", [7.72, 2.46, 7.1, 3.78, 3.45, 3.61, 0.11, 1.43]], [61, "success", null], [[62], "collision", [0.29]], [64, "lost_success", null], [[70, 75, 76, 77, 78, 79], "collision", [0.59, 5.69, 2.91, 2.41, 2.25, 2.38]], [81, "success", null], [92, "lost_success", null], [93, "success", null], [102, "lost_success", null], [103, "success", null], [[114, 115, 116], "collision", [27.34, 27.04, 26.77]], [117, "lost_success", null], [[117, 118, 119], "collision", [28.19, 27.63, 26.29]], [121, "success", null], [[121, 122, 123], "collision", [26.89, 26.0, 22.21]], [124, "lost_success", null], [[124], "collision", [26.59]], [125, "success", null], [[125, 126, 127, 128, 129], "collision", [23.74, 25.6, 27.56, 25.95, 25.97]], [130, "lost_success", null], [[130, 132, 133, 134, 135, 136, 137, 138, 142, 143, 144, 145, 146, 147], "collision", [26.02, 26.71, 25.12, 25.49, 24.75, 23.35, 24.24, 24.72, 22.71, 23.98, 22.09, 23.66, 0.57, 22.42]], [148, "success", null], [[148, 149, 150], "collision", [22.39, 23.65, 22.6]], [152, "lost_success", null], [[152, 153, 154, 155], "collision", [23.41, 19.81, 23.04, 20.54]], [156, "success", null], [[156, 157, 159, 160, 161, 162, 163, 164, 165, 166, 167, 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, 196, 197, 198, 199], "collision", [21.76, 8.71, 25.63, 19.64, 23.88, 21.33, 23.87, 22.85, 21.56, 19.94, 26.53, 26.6, 25.45, 27.3, 1.05, 27.44, 26.9, 25.5, 24.3, 24.66, 24.94, 26.12, 27.09, 27.0, 26.06, 29.37, 28.88, 25.54, 24.28, 25.26, 24.78, 24.7, 29.56, 27.6, 28.96, 28.79, 27.74, 29.38, 26.18, 26.08, 29.89]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 59, + "task_plan_idx": 116, + "init_config_idx": 68, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7], "collision", [1425.14, 527.75, 223.38]], [24, "contact", null], [24, "grasped", null], [[24, 25, 26, 27, 28, 29], "collision", [0.32, 6.24, 4.08, 2.63, 1.32, 0.02]], [46, "success", null], [55, "lost_success", null], [61, "success", null], [[70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [136.15, 20.54, 41.58, 29.56, 30.89, 34.79, 29.29, 30.35, 36.24]], [79, "lost_success", null], [[79, 80, 81], "collision", [29.08, 32.12, 33.73]], [82, "success", null], [[82, 83], "collision", [54.64, 48.66]], [84, "lost_success", null], [[84, 85, 86], "collision", [41.41, 30.4, 45.93]], [87, "success", null], [[87, 88, 89, 90], "collision", [23.06, 9.81, 11.29, 8.15]], [102, "lost_success", null], [117, "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": 59, + "task_plan_idx": 61, + "init_config_idx": 87, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [326.11, 79.84]], [14, "contact", null], [14, "grasped", null], [33, "success", null], [49, "lost_success", null], [61, "success", null], [86, "lost_success", null], [87, "success", null], [103, "lost_success", null], [119, "success", null], [126, "lost_success", null], [132, "success", null], [147, "lost_success", null], [148, "success", null], [177, "lost_success", null], [178, "success", null], [184, "lost_success", null], [185, "success", null], [187, "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": 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": 60, + "task_plan_idx": 9, + "init_config_idx": 102, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [[26, 27, 30, 31, 32, 35, 40, 41, 42, 43, 44, 45, 46, 47], "collision", [0.18, 0.96, 0.32, 0.24, 0.62, 0.03, 23.78, 1.85, 2.79, 2.08, 3.36, 3.63, 2.65, 5.58]], [48, "success", null], [[48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65], "collision", [2.98, 3.25, 3.16, 3.19, 3.44, 3.58, 3.62, 3.18, 3.56, 3.79, 3.32, 5.06, 7.23, 7.26, 7.39, 7.61, 7.6, 6.53]], [66, "lost_success", null], [[66], "collision", [3.6]], [67, "success", null], [[67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83], "collision", [12.91, 12.39, 13.89, 22.97, 19.73, 6.18, 6.9, 6.87, 7.15, 7.13, 7.25, 7.12, 7.1, 6.96, 7.0, 19.89, 16.62]], [84, "lost_success", null], [[84], "collision", [7.44]], [85, "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, 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", [3.6, 5.35, 3.6, 3.6, 3.6, 3.6, 3.6, 3.6, 34.16, 35.82, 35.03, 3.6, 35.55, 33.94, 34.22, 35.49, 34.92, 28.6, 31.89, 34.83, 34.88, 3.6, 35.84, 34.7, 35.88, 34.46, 36.14, 35.65, 36.56, 28.76, 35.61, 3.6, 33.74, 35.81, 34.66, 32.25, 35.97, 3.6, 34.53, 34.7, 35.49, 22.64, 35.22, 34.94, 29.64, 28.1, 34.34, 30.82, 4.32, 34.11, 34.86, 35.63, 31.09, 32.7, 34.77, 35.23, 3.6, 36.49, 34.94, 30.74, 12.12, 36.03, 27.66, 23.24, 34.41, 3.6, 36.03, 34.84, 35.27, 35.47, 29.58, 34.24, 35.03, 32.8, 35.16, 3.59, 34.7, 34.76, 26.37, 35.01, 35.37, 35.01, 28.52, 35.04, 3.61, 35.38, 35.17, 3.6, 35.74, 35.54, 34.57, 12.22, 35.47, 33.23, 34.0, 35.7, 24.54, 34.94, 7.36, 35.43, 34.54, 34.93, 33.98, 3.6, 34.38, 3.6, 34.89, 34.78, 34.47, 3.6, 34.55, 21.48, 35.11, 35.59, 33.09]]], + "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": 60, + "task_plan_idx": 5, + "init_config_idx": 58, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [414.95, 465.55]], [20, "contact", null], [21, "grasped", null], [[24, 25], "collision", [4.16, 3.48]], [35, "success", null], [[35], "collision", [112.15]], [36, "lost_success", null], [[36], "collision", [1.58]], [37, "success", null], [38, "lost_success", null], [42, "success", null], [43, "lost_success", null], [68, "success", null], [76, "lost_success", null], [78, "success", null], [92, "lost_success", null], [97, "success", null], [120, "lost_success", null], [122, "success", null], [128, "lost_success", null], [129, "success", null], [130, "lost_success", null], [131, "success", null]], + "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": 61, + "task_plan_idx": 83, + "init_config_idx": 127, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], "collision", [8.4, 14.35, 25.05, 24.33, 29.74, 20.18, 13.97, 5.97, 4.6, 5.59, 5.14, 3.46, 12.41, 14.02, 12.32, 13.88, 14.96, 12.16, 10.93]], [40, "success", null], [[40], "collision", [11.57]], [41, "lost_success", null], [[41, 42], "collision", [12.06, 11.05]], [43, "success", null], [[43], "collision", [10.13]], [44, "lost_success", null], [[44, 45], "collision", [10.82, 11.42]], [46, "success", null], [[46, 47, 48, 49], "collision", [12.02, 12.35, 11.82, 11.38]], [50, "lost_success", null], [[50, 51], "collision", [12.95, 11.28]], [52, "success", null], [[52, 53], "collision", [10.75, 12.33]], [54, "lost_success", null], [[54, 55, 56, 57, 58, 59, 60, 61], "collision", [11.44, 12.37, 10.42, 10.73, 10.21, 9.63, 8.79, 8.19]], [62, "success", null], [[62], "collision", [8.15]], [63, "lost_success", null], [[63], "collision", [153.8]], [64, "success", null], [[64, 65, 66, 67], "collision", [227.9, 192.69, 121.82, 151.11]], [68, "lost_success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83], "collision", [143.55, 140.7, 144.19, 175.77, 189.66, 164.05, 151.12, 121.17, 66.85, 57.92, 11.2, 8.71, 6.62, 87.42, 11.47, 11.39]], [84, "success", null], [[84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [10.03, 10.35, 9.83, 9.21, 11.03, 11.99, 10.66, 11.32, 9.98, 7.15, 10.8, 10.73, 11.96, 9.34, 8.96, 8.94]], [100, "lost_success", null], [[100, 101, 102, 103], "collision", [8.61, 9.32, 8.44, 8.9]], [104, "success", null], [[104], "collision", [10.69]], [105, "lost_success", null], [[105, 106, 107, 108, 109, 110, 111, 112], "collision", [9.57, 10.08, 9.55, 8.89, 9.61, 9.29, 9.53, 7.18]], [113, "success", null], [[113], "collision", [8.26]], [114, "lost_success", null], [[114], "collision", [11.27]], [115, "success", null], [[115, 116, 117, 118, 119, 120, 121], "collision", [9.78, 9.0, 8.92, 9.48, 8.44, 8.0, 9.69]], [122, "lost_success", null], [[122, 123, 124], "collision", [7.41, 7.7, 11.14]], [125, "success", null], [[125, 126, 127], "collision", [8.8, 9.65, 8.82]], [128, "lost_success", null], [[128, 129, 130, 131, 132], "collision", [12.22, 9.74, 9.09, 12.8, 12.04]], [133, "success", null], [[133, 134, 135], "collision", [26.96, 9.05, 9.35]], [136, "lost_success", null], [[136, 137, 138, 139, 140], "collision", [8.22, 8.79, 11.24, 8.05, 9.9]], [141, "success", null], [[141], "collision", [8.64]], [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", [9.84, 34.5, 8.31, 9.92, 10.52, 9.52, 8.8, 8.93, 10.63, 8.78, 8.44, 8.61, 8.5, 7.81, 7.81, 70.35, 68.45, 44.46, 32.06, 58.37, 14.73, 12.28, 23.35, 37.52, 37.76, 18.1, 41.66, 34.84, 36.18, 53.3, 44.75, 80.71, 22.13, 42.49, 31.3, 23.43, 22.16, 28.38, 12.47, 10.05, 8.93, 9.69, 8.79, 8.8, 11.68, 13.75, 10.23, 9.59, 10.69, 11.93, 11.24, 10.85, 14.26, 12.53, 13.67, 12.6, 9.28, 9.15]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 61, + "task_plan_idx": 8, + "init_config_idx": 19, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 16, 17, 19], "collision", [1655.39, 351.82, 142.66, 166.48, 21.44]], [20, "contact", null], [20, "grasped", null], [[24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "collision", [27.66, 26.18, 19.48, 5.4, 5.79, 4.89, 1.23, 1.07, 3.97, 3.04, 2.76, 0.02]], [41, "success", null], [[41], "collision", [1.03]], [42, "lost_success", null], [44, "success", null], [[47], "collision", [0.99]], [48, "lost_success", null], [49, "success", null], [[57, 59, 60, 61, 62, 63, 64], "collision", [77.66, 132.11, 36.6, 43.62, 51.72, 60.0, 67.01]], [65, "lost_success", null], [[65], "collision", [69.15]], [66, "success", null], [[66, 67], "collision", [57.05, 59.68]], [68, "lost_success", null], [[68], "collision", [65.84]], [69, "success", null], [[69, 70], "collision", [37.2, 79.43]], [71, "lost_success", null], [[71, 72], "collision", [127.45, 112.24]], [73, "success", null], [[73, 74], "collision", [101.21, 43.32]], [107, "lost_success", null], [108, "success", null], [112, "lost_success", null], [113, "success", null], [115, "lost_success", null], [116, "success", null], [118, "lost_success", null], [120, "success", null], [123, "lost_success", null], [124, "success", null], [126, "lost_success", null], [129, "success", null], [132, "lost_success", null], [133, "success", null], [135, "lost_success", null], [137, "success", null], [[137], "collision", [0.06]], [139, "lost_success", null], [141, "success", null], [142, "lost_success", null], [144, "success", null], [[152], "collision", [0.01]], [153, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null]], + "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": 61, + "task_plan_idx": 30, + "init_config_idx": 90, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 24], "collision", [386.21, 389.53, 380.49, 1613.15]], [25, "contact", null], [27, "grasped", null], [49, "success", null], [76, "lost_success", null], [77, "success", null], [81, "lost_success", null], [82, "success", null], [84, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [132, "lost_success", null], [142, "success", null], [148, "lost_success", null], [149, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 39, + "init_config_idx": 50, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6], "collision", [956.2, 226.4, 250.33, 220.83]], [13, "contact", null], [13, "grasped", null], [34, "success", null], [[34], "collision", [7.64]], [37, "lost_success", null], [38, "success", null], [[40], "collision", [130.71]], [41, "lost_success", null], [[41], "collision", [0.3]], [42, "success", null], [[42], "collision", [0.45]], [43, "lost_success", null], [[43, 44, 45, 46], "collision", [0.55, 0.46, 0.58, 0.63]], [47, "success", null], [[47, 48], "collision", [0.4, 0.55]], [49, "lost_success", null], [[49, 50, 51, 52], "collision", [0.75, 115.38, 103.88, 69.67]], [53, "success", null], [[53], "collision", [65.87]], [54, "lost_success", null], [[54, 55, 56, 57, 58, 59, 60], "collision", [173.7, 82.03, 0.55, 26.42, 147.46, 197.44, 186.57]], [61, "success", null], [[61], "collision", [0.6]], [62, "lost_success", null], [[62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73], "collision", [0.83, 0.46, 0.76, 1.09, 0.77, 0.77, 1.56, 1.8, 0.86, 0.68, 0.55, 0.44]], [74, "success", null], [[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], "collision", [0.4, 0.84, 0.38, 0.55, 0.55, 0.53, 0.52, 0.46, 0.48, 0.36, 0.39, 0.42, 0.42, 0.43, 0.38, 0.41, 0.42, 0.43, 0.43, 0.61, 2.42, 1.89, 2.09, 1.61, 2.07, 1.63, 1.84, 0.99, 0.35, 0.35, 0.37, 0.51, 0.35, 1.0, 0.36, 0.36, 0.37, 0.35, 0.34, 0.35, 0.39, 0.37, 0.34, 0.36, 0.37, 0.33, 0.33, 0.36, 0.36, 0.35, 0.32, 0.32]], [126, "lost_success", null], [[126, 127, 128], "collision", [0.32, 0.3, 0.29]], [129, "success", null], [[129, 130], "collision", [0.32, 0.31]], [131, "lost_success", null], [[131, 132, 133, 134, 135], "collision", [0.28, 0.24, 0.25, 0.22, 0.22]], [136, "success", null], [[136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147], "collision", [0.24, 0.24, 0.22, 0.25, 0.23, 0.21, 0.21, 0.22, 0.18, 0.16, 0.1, 0.08]], [148, "lost_success", null], [[148, 149, 150, 151, 152, 153], "collision", [0.11, 0.15, 0.2, 0.13, 0.08, 0.48]], [154, "success", null], [[154, 155, 156, 157, 158], "collision", [0.08, 0.08, 0.13, 0.18, 0.16]], [159, "lost_success", null], [[159, 160], "collision", [0.11, 0.13]], [161, "success", null], [[161], "collision", [0.16]], [162, "lost_success", null], [[162], "collision", [0.17]], [164, "success", null], [[164], "collision", [0.17]], [165, "lost_success", null], [[165], "collision", [0.15]], [166, "success", null], [[166], "collision", [0.21]], [167, "lost_success", null], [[167, 168, 169], "collision", [0.25, 0.2, 0.22]], [170, "success", null], [[170, 171, 172, 173, 174], "collision", [0.23, 0.22, 0.23, 0.22, 0.2]], [175, "lost_success", null], [[175], "collision", [0.26]], [176, "success", null], [[176], "collision", [0.17]], [177, "lost_success", null], [[177, 178, 179, 180, 181, 182, 183, 184], "collision", [0.22, 0.17, 0.19, 0.18, 0.24, 0.24, 0.33, 0.29]], [185, "success", null], [[185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [0.36, 0.43, 0.41, 0.36, 0.36, 0.3, 0.39, 0.33, 0.31]], [194, "lost_success", null], [[194, 195, 196], "collision", [0.25, 0.2, 0.21]], [197, "success", null], [[197, 198, 199], "collision", [0.23, 0.26, 0.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 110, + "init_config_idx": 15, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[1, 2, 3, 4, 5, 6, 8], "collision", [1215.9, 15.32, 127.36, 92.06, 134.21, 232.07, 185.01]], [10, "contact", null], [11, "grasped", null], [29, "success", null], [[77, 78, 79, 81, 82], "collision", [8.17, 34.72, 28.66, 21.83, 24.13]]], + "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": 63, + "task_plan_idx": 24, + "init_config_idx": 143, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 12], "collision", [995.02, 125.43, 0.99]], [13, "contact", null], [14, "lost_contact", null], [16, "contact", null], [16, "grasped", null], [30, "success", null], [[31, 32], "collision", [1.01, 0.02]], [33, "lost_success", null], [[33, 34], "collision", [0.12, 0.09]], [35, "success", null], [[35, 36], "collision", [0.09, 0.09]], [37, "lost_success", null], [[37], "collision", [0.09]], [38, "success", null], [[38], "collision", [0.09]], [39, "lost_success", null], [[39], "collision", [0.09]], [40, "success", null], [[40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "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]], [63, "lost_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], "collision", [0.09, 0.09, 301.5, 31.45, 0.46, 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]], [96, "success", null], [[96, 97], "collision", [0.09, 0.09]], [98, "lost_success", null], [[98], "collision", [0.09]], [99, "success", null], [[99], "collision", [0.09]], [100, "lost_success", null], [[100, 101, 102], "collision", [0.09, 0.09, 0.09]], [103, "success", null], [[103], "collision", [0.09]], [104, "lost_success", null], [[104, 105], "collision", [0.09, 0.09]], [106, "success", null], [[106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126], "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]], [127, "lost_success", null], [[127, 128], "collision", [0.09, 0.09]], [129, "success", null], [[129, 130, 131], "collision", [0.09, 0.09, 0.09]], [132, "lost_success", null], [[132], "collision", [0.09]], [133, "success", null], [[133, 134, 135, 136, 137, 138, 139, 140, 141], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [142, "lost_success", null], [[142, 143], "collision", [0.09, 0.09]], [144, "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", [0.09, 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, 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": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 133, + "init_config_idx": 34, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [598.62]], [14, "contact", null], [16, "grasped", null], [25, "success", null], [26, "lost_success", null], [28, "success", null], [46, "lost_success", null], [[46], "collision", [0.39]], [48, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [53, "success", null], [187, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "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": 63, + "task_plan_idx": 145, + "init_config_idx": 84, + "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], "collision", [2125.64, 213.79, 307.4, 106.12, 143.94, 245.39, 555.85, 609.18]], [16, "contact", null], [17, "grasped", null], [[18], "collision", [0.21]], [40, "success", null], [42, "lost_success", null], [43, "success", null], [90, "lost_success", null], [91, "success", null], [92, "lost_success", null], [94, "success", null], [115, "lost_success", null], [119, "success", null], [120, "lost_success", null], [121, "success", null], [[123], "collision", [47.31]], [155, "lost_success", null], [156, "success", null], [158, "lost_success", null], [159, "success", null], [195, "lost_success", null], [196, "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": 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": 64, + "task_plan_idx": 122, + "init_config_idx": 102, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 13, 14, 17, 18, 19, 20, 21, 25], "collision", [310.61, 194.41, 175.43, 121.42, 31.98, 163.78, 191.9, 430.52, 389.45, 249.3, 474.51]], [28, "contact", null], [28, "grasped", null], [[28, 29], "collision", [2.09, 0.22]], [52, "success", null], [57, "lost_success", null], [60, "success", null], [[103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 117, 118, 119, 120, 121, 122], "collision", [45.69, 32.71, 24.75, 19.04, 21.45, 19.64, 19.21, 17.55, 16.29, 19.16, 17.85, 6.66, 4.74, 5.43, 25.24, 23.36, 17.51, 9.68, 13.19]], [123, "lost_success", null], [[123, 124, 125, 127, 128, 129, 130, 131, 132, 133, 134, 135], "collision", [5.54, 10.79, 8.2, 12.28, 9.36, 9.86, 9.77, 5.36, 7.9, 9.29, 7.18, 4.07]], [196, "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": 65, + "task_plan_idx": 30, + "init_config_idx": 42, + "spawn_selection_idx": 88, + "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", [318.37, 302.89, 159.94, 154.86, 176.88, 162.17]], [17, "contact", null], [17, "grasped", null], [[18], "collision", [1504.01]], [40, "success", null], [55, "lost_success", null], [56, "success", null], [65, "lost_success", null], [67, "success", null], [74, "lost_success", null], [77, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 129, + "init_config_idx": 59, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[0, 17, 21], "collision", [462.27, 113.92, 404.76]], [22, "contact", null], [24, "grasped", null], [[51, 52, 53, 54], "collision", [159.96, 96.83, 223.57, 125.31]], [56, "success", null], [[58, 61, 63, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80], "collision", [230.64, 113.68, 71.06, 41.64, 14.08, 54.48, 15.84, 62.61, 17.23, 20.87, 27.59, 0.48, 75.27, 37.22, 42.96, 69.06]], [81, "lost_success", null], [[81], "collision", [49.91]], [82, "success", null], [[82, 83, 84, 85, 86, 91, 92], "collision", [28.02, 31.92, 13.17, 19.39, 47.83, 30.03, 119.98]], [99, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [[112, 115, 135], "collision", [15.81, 4.49, 15.79]], [143, "lost_success", null], [156, "success", null], [158, "lost_success", null], [159, "success", null], [162, "lost_success", null], [168, "success", null], [169, "lost_success", null], [171, "success", null], [174, "lost_success", null], [176, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 172, + "init_config_idx": 105, + "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], [[33, 34, 35, 42, 43, 44, 45, 46, 48], "collision", [60.78, 45.91, 45.32, 21.66, 28.39, 35.08, 50.7, 32.93, 0.07]], [50, "success", null], [51, "lost_success", null], [63, "success", null], [[70, 71, 72, 73, 74], "collision", [5.83, 19.85, 24.78, 31.42, 28.56]], [75, "lost_success", null], [[75], "collision", [27.71]], [76, "success", null], [[76, 77], "collision", [33.87, 33.16]], [78, "lost_success", null], [[78], "collision", [27.71]], [79, "success", null], [[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", [29.99, 39.89, 42.34, 38.46, 37.8, 31.77, 29.55, 30.13, 27.74, 27.0, 28.69, 24.43, 29.12, 30.13, 26.64, 25.45, 25.56, 27.44, 27.93, 26.21, 24.03, 26.33, 23.85, 26.89, 23.14, 22.98, 23.43, 26.69, 26.85, 24.45, 26.95, 21.3, 15.68, 16.28, 14.83]], [114, "lost_success", null], [[114, 115, 117, 118, 119, 120], "collision", [13.28, 0.09, 0.31, 0.12, 0.08, 0.04]], [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, 155, 156, 157, 158, 159, 160], "collision", [0.15, 9.72, 19.63, 24.55, 15.08, 17.48, 17.65, 30.36, 27.0, 15.33, 24.12, 23.01, 18.51, 23.3, 17.17, 15.8, 17.36, 14.63, 20.7, 20.94, 2.39, 9.78, 11.99, 14.31, 19.07, 14.01, 15.73, 16.32, 15.57, 23.49, 15.87, 37.86, 49.13, 39.12, 33.5, 42.51, 40.49, 43.74]], [161, "lost_success", null], [[161, 162, 163], "collision", [4.1, 39.71, 32.64]], [164, "success", null], [[164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189], "collision", [15.49, 5.82, 5.13, 5.37, 9.93, 4.07, 5.63, 3.62, 4.87, 0.16, 6.59, 3.83, 20.59, 23.05, 21.04, 13.97, 14.31, 13.85, 14.02, 12.21, 11.31, 13.19, 9.67, 0.07, 3.14]], [193, "lost_success", null], [194, "success", null], [[195], "collision", [1.45]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 119, + "init_config_idx": 141, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 9, 10], "collision", [372.25, 96.37, 321.51]], [15, "contact", null], [15, "grasped", null], [[30, 31, 32], "collision", [175.94, 201.28, 163.85]], [33, "success", null], [[33], "collision", [120.04]], [34, "lost_success", null], [[34], "collision", [103.91]], [35, "success", null], [[35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47], "collision", [108.36, 98.46, 98.66, 65.67, 74.65, 151.1, 145.79, 142.8, 145.68, 143.16, 141.77, 136.57, 120.88]], [48, "lost_success", null], [[48], "collision", [151.47]], [49, "success", null], [[49, 50, 51, 52, 53, 54], "collision", [109.54, 120.58, 156.29, 174.51, 105.19, 61.42]], [56, "lost_success", null], [[56, 57], "collision", [76.94, 84.68]], [58, "success", null], [[58, 61], "collision", [59.14, 17.7]], [97, "lost_success", null], [[99, 100, 101], "collision", [71.14, 97.85, 161.17]], [102, "success", null], [[102, 103, 104, 105, 106], "collision", [155.07, 76.32, 55.46, 69.13, 46.08]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 68, + "task_plan_idx": 40, + "init_config_idx": 137, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [345.2]], [18, "contact", null], [18, "grasped", null], [[18, 34], "collision", [385.23, 117.32]], [35, "success", null], [[35, 36, 37, 38, 39, 40, 41], "collision", [52.66, 22.6, 5.89, 9.34, 5.02, 11.37, 31.24]], [42, "lost_success", null], [[42, 43], "collision", [24.61, 20.83]], [44, "success", null], [[44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59], "collision", [19.7, 11.21, 0.37, 0.77, 2.2, 1.66, 0.71, 2.12, 1.73, 1.16, 1.26, 1.1, 1.51, 1.52, 1.62, 0.82]], [60, "lost_success", null], [[60], "collision", [1.78]], [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, 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, 194, 195, 196, 197, 198, 199], "collision", [2.15, 0.76, 0.54, 0.33, 1.26, 0.81, 1.11, 0.97, 1.02, 1.21, 1.0, 1.28, 0.54, 1.05, 1.46, 1.09, 0.99, 1.21, 1.08, 1.29, 1.07, 1.26, 1.12, 0.9, 1.06, 0.87, 1.44, 0.95, 1.31, 0.6, 0.94, 1.27, 1.17, 1.25, 0.64, 1.12, 1.29, 0.99, 0.94, 1.1, 0.88, 1.25, 1.07, 1.22, 1.14, 1.18, 0.96, 1.01, 1.55, 0.97, 1.04, 0.91, 1.46, 1.2, 1.08, 1.22, 1.43, 1.04, 1.11, 0.96, 1.21, 1.02, 1.12, 0.91, 0.88, 1.21, 1.7, 1.13, 1.51, 1.81, 1.33, 1.1, 1.14, 1.25, 0.74, 1.45, 1.23, 1.11, 1.48, 1.16, 0.99, 1.2, 1.14, 1.06, 1.14, 1.23, 1.23, 0.96, 1.06, 0.98, 1.68, 1.0, 1.53, 1.55, 1.27, 0.85, 1.29, 1.05, 1.03, 1.25, 1.59, 1.05, 1.18, 1.01, 1.08, 1.15, 0.95, 1.04, 1.2, 1.13, 1.81, 1.27, 1.24, 1.06, 1.23, 1.04, 1.0, 1.55, 1.46, 1.29, 0.89, 1.18, 1.16, 1.19, 1.26, 1.18, 1.56, 1.29, 1.09, 1.21, 1.3, 1.08, 1.12, 0.91, 1.15, 1.12, 1.36, 1.83, 0.92]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 6, + "task_plan_idx": 15, + "init_config_idx": 122, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17], "collision", [1.08, 1.13]], [18, "contact", null], [[18], "collision", [0.14]], [19, "grasped", null], [[19, 20, 22], "collision", [0.77, 0.36, 0.48]], [37, "success", null], [39, "lost_success", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [57, "lost_success", null], [58, "success", null], [62, "lost_success", null], [65, "success", null], [66, "lost_success", null], [70, "success", null], [72, "lost_success", null], [73, "success", null], [77, "lost_success", null], [79, "success", null], [81, "lost_success", null], [82, "success", null], [99, "lost_success", null], [100, "success", null], [[104], "collision", [107.68]], [136, "lost_success", null], [137, "success", null], [145, "lost_success", null], [146, "success", null], [154, "lost_success", null], [155, "success", null], [168, "lost_success", null], [169, "success", null], [174, "lost_success", null], [175, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 6, + "task_plan_idx": 92, + "init_config_idx": 81, + "spawn_selection_idx": 11, + "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, 38, 39], "collision", [3.55, 32.63, 29.38, 16.19, 11.97, 10.99, 6.7, 5.26, 5.58, 6.96, 17.37]], [40, "success", null], [[40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56], "collision", [12.94, 15.75, 15.56, 19.01, 18.64, 18.51, 21.04, 18.42, 20.69, 19.35, 16.14, 15.35, 86.88, 118.65, 126.55, 93.69, 40.87]], [57, "lost_success", null], [[57], "collision", [11.1]], [58, "success", null], [[58, 59, 60], "collision", [6.29, 6.27, 4.59]], [61, "lost_success", null], [[61], "collision", [2.09]], [62, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 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, 194, 195, 196, 197, 198, 199], "collision", [1.0, 2.77, 4.51, 11.22, 12.08, 12.53, 15.82, 14.75, 16.42, 13.91, 15.87, 15.99, 12.92, 13.11, 12.57, 13.01, 10.94, 11.16, 11.83, 11.93, 6.26, 3.69, 4.36, 2.23, 7.74, 11.73, 14.66, 15.67, 10.05, 10.56, 15.23, 12.76, 9.24, 11.96, 9.84, 10.27, 9.52, 8.43, 7.61, 4.27, 3.18, 6.95, 2.46, 2.22, 3.06, 6.35, 12.19, 14.03, 16.91, 15.11, 10.78, 8.03, 13.24, 13.58, 10.3, 10.98, 8.67, 5.68, 4.35, 2.99, 5.23, 4.85, 4.38, 5.07, 7.38, 6.68, 6.42, 5.52, 4.34, 4.02, 4.15, 5.48, 8.84, 9.58, 9.52, 8.94, 10.88, 13.3, 12.06, 19.06, 14.43, 11.86, 12.48, 12.02, 13.32, 14.29, 15.76, 16.62, 13.81, 12.4, 13.14, 11.7, 12.76, 12.51, 11.45, 11.14, 13.73, 11.43, 10.82, 9.48, 10.06, 6.99, 8.75, 10.17, 10.38, 9.68, 10.46, 11.78, 8.87, 10.72, 9.43, 11.27, 16.57, 13.33, 13.09, 17.23, 18.35, 13.33, 18.98, 14.62, 11.77, 13.18, 16.49, 11.32, 15.88, 15.33, 9.73, 10.38, 8.94, 10.49, 18.7, 12.97, 17.09, 13.22, 10.83]]], + "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": 7, + "task_plan_idx": 113, + "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": [[23, "contact", null], [23, "grasped", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [64.07, 90.45, 71.06, 9.14, 9.04, 8.58, 7.83, 7.12, 6.68]], [47, "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, 72, 73, 74, 75, 76, 77, 78, 79], "collision", [6.86, 10.8, 9.33, 11.16, 10.48, 7.94, 9.44, 7.31, 6.0, 6.41, 6.91, 6.86, 6.64, 6.08, 8.67, 7.52, 7.78, 8.76, 8.98, 9.24, 7.42, 8.13, 8.36, 8.05, 7.91, 6.4, 8.34, 8.17, 5.32, 3.85, 0.38, 0.33, 0.33]], [80, "lost_success", null], [[80], "collision", [0.31]], [81, "success", null], [[81, 82, 84, 85], "collision", [1.24, 1.76, 1.92, 0.12]], [89, "lost_success", null], [92, "success", null], [[92, 93], "collision", [0.22, 0.3]], [94, "lost_success", null], [[94], "collision", [0.59]], [96, "success", null], [[96], "collision", [0.06]], [97, "lost_success", null], [[97], "collision", [0.31]], [98, "success", null], [[98, 99, 101, 102, 103], "collision", [0.11, 0.46, 0.22, 1.05, 0.08]], [105, "lost_success", null], [[107], "collision", [0.66]], [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, 132, 133, 134, 135, 136, 137, 138], "collision", [1.54, 0.2, 0.01, 0.54, 0.59, 0.06, 0.75, 0.38, 0.07, 1.02, 1.06, 0.56, 0.93, 0.62, 1.07, 0.2, 0.69, 0.42, 0.68, 0.66, 1.05, 0.44, 0.06, 0.47, 0.32, 0.19, 0.88, 0.28, 0.73, 0.13]], [139, "lost_success", null], [[140, 141, 142, 143, 144, 147, 149, 150, 151, 152, 153, 156, 157, 158, 159, 160, 161, 162, 163], "collision", [0.1, 0.37, 0.04, 1.05, 0.31, 0.06, 0.14, 0.07, 0.43, 0.2, 0.63, 0.14, 0.84, 0.53, 0.16, 0.55, 0.48, 0.61, 0.59]], [164, "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, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.87, 0.29, 1.02, 0.96, 0.09, 1.76, 0.18, 0.94, 0.28, 0.18, 0.37, 0.96, 0.56, 0.09, 0.28, 0.19, 0.17, 1.02, 0.94, 0.63, 1.08, 0.67, 0.63, 0.62, 0.29, 0.14, 0.84, 0.23, 0.6, 1.19, 0.39, 1.32, 1.25, 0.82, 0.15, 1.45]]], + "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": 8, + "task_plan_idx": 135, + "init_config_idx": 75, + "spawn_selection_idx": 82, + "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], [71, "lost_success", null]], + "articulation_type": "fridge", + "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": 8, + "task_plan_idx": 29, + "init_config_idx": 140, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [140.72]], [23, "contact", null], [23, "grasped", null], [[32, 33, 34, 44, 45], "collision", [117.76, 13.53, 111.06, 32.91, 260.75]], [61, "success", null], [62, "lost_success", null], [63, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [74, "success", null], [76, "lost_success", null], [91, "success", null], [92, "lost_success", null], [131, "success", null], [154, "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": 10, + "task_plan_idx": 126, + "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": [[[14, 17, 18, 19], "collision", [908.85, 131.78, 129.59, 83.45]], [22, "contact", null], [22, "grasped", null], [43, "success", null], [[47, 51, 52, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73], "collision", [300.13, 242.66, 49.26, 36.18, 145.47, 139.66, 102.39, 77.45, 29.81, 99.01, 87.18, 56.74, 65.52, 96.19, 93.08, 100.77, 133.6, 129.25, 148.67, 149.35, 72.63, 63.03, 129.64]], [74, "lost_success", null], [[74], "collision", [54.19]], [76, "success", null], [102, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [109, "lost_success", null], [120, "success", null], [121, "lost_success", null], [130, "success", null], [131, "lost_success", null], [132, "success", null], [133, "lost_success", null], [138, "success", null], [141, "lost_success", null], [142, "success", null], [146, "lost_success", null], [147, "success", null], [150, "lost_success", null], [174, "success", null], [175, "lost_success", null], [179, "success", null], [180, "lost_success", null], [182, "success", null], [189, "lost_success", null], [190, "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": "fridge", + "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": 10, + "task_plan_idx": 28, + "init_config_idx": 126, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 16], "collision", [184.56, 19.58]], [20, "contact", null], [20, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 27, 28, 33], "collision", [24.05, 48.64, 13.2, 12.86, 6.03, 1.81, 0.68, 0.43, 0.18, 0.19]], [38, "success", null], [60, "lost_success", null], [[66, 67, 68, 69, 71, 74, 79], "collision", [23.62, 45.72, 48.01, 21.95, 0.09, 0.14, 0.08]], [80, "success", null], [[80, 81], "collision", [0.09, 0.19]], [82, "lost_success", null], [[83], "collision", [0.76]], [84, "success", null], [[85, 87, 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], "collision", [0.18, 0.14, 51.55, 75.33, 76.89, 69.69, 51.06, 54.21, 53.96, 47.42, 39.2, 35.63, 42.64, 29.54, 34.02, 22.25, 23.54, 30.64, 34.83, 37.58, 34.99, 37.82, 32.77, 32.73, 29.18, 45.67, 38.33, 36.25, 39.31, 31.33, 16.85, 25.9, 31.3, 33.98, 39.22, 26.59, 26.24, 31.36, 36.41, 42.67, 37.22, 35.97, 43.59, 34.41, 38.84, 38.89, 9.59, 39.62, 0.14]], [156, "lost_success", null], [157, "success", null], [159, "lost_success", null], [160, "success", null], [163, "lost_success", null], [164, "success", null], [167, "lost_success", null], [168, "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": 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": 11, + "task_plan_idx": 8, + "init_config_idx": 110, + "spawn_selection_idx": 60, + "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], [[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, 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, 194, 195, 196, 197, 198, 199], "collision", [61.13, 46.58, 46.3, 38.03, 34.6, 36.73, 57.96, 53.08, 52.68, 57.63, 46.02, 38.67, 30.91, 24.07, 16.79, 16.54, 13.23, 13.75, 15.0, 13.81, 12.97, 10.64, 8.17, 7.11, 11.69, 9.17, 13.36, 13.18, 10.89, 9.41, 14.66, 11.44, 11.77, 13.6, 11.52, 12.19, 12.48, 12.31, 8.81, 10.3, 10.24, 9.31, 11.62, 11.1, 11.75, 11.09, 8.68, 12.72, 8.75, 13.52, 8.25, 11.92, 11.78, 12.65, 13.85, 13.87, 9.51, 9.17, 11.15, 10.59, 8.67, 8.1, 8.24, 9.2, 9.6, 9.86, 10.68, 8.57, 10.4, 11.95, 13.26, 8.88, 11.44, 13.01, 11.95, 10.83, 11.54, 9.99, 9.87, 13.2, 11.76, 12.69, 10.81, 13.0, 11.55, 12.19, 8.7, 11.17, 11.66, 13.16, 10.83, 10.07, 12.12, 12.27, 11.09, 12.56, 11.59, 13.85, 10.57, 11.8, 12.39, 13.12, 9.7, 12.88, 11.55, 10.76, 10.66, 13.26, 12.88, 13.42, 12.0, 12.36, 13.89, 15.33, 15.69, 14.74, 11.9, 10.38, 11.94, 8.32, 12.19, 10.51, 9.76, 9.16, 11.81, 10.82, 10.44, 12.51, 11.23, 11.74, 10.83, 11.65, 10.97, 10.77, 12.16, 10.43, 11.94, 12.06, 12.92, 13.4, 13.14, 11.76, 11.09, 9.43, 10.94, 10.36, 10.58, 12.97, 11.21, 8.08, 12.81, 11.3, 11.12, 11.49]]], + "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": 12, + "task_plan_idx": 154, + "init_config_idx": 178, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12], "collision", [153.36, 529.73, 274.13]], [13, "contact", null], [14, "grasped", null], [[16, 18, 19, 20, 28, 29, 30, 31, 33], "collision", [123.53, 61.87, 62.7, 27.12, 86.25, 204.7, 43.17, 169.64, 269.56]], [34, "success", null], [[34, 35, 36], "collision", [63.2, 121.46, 135.56]], [39, "lost_success", null], [40, "success", null], [[45, 47, 50, 51, 52, 53, 54, 55, 58, 61, 63, 65, 66, 67, 68, 69, 70, 71, 72, 73, 75, 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", [219.63, 12.45, 8.89, 10.42, 5.62, 8.88, 13.52, 10.0, 20.97, 7.84, 14.86, 13.74, 15.8, 21.06, 21.4, 19.19, 0.47, 17.9, 6.61, 17.32, 11.98, 11.43, 19.6, 17.61, 18.69, 19.62, 21.08, 18.74, 20.95, 17.2, 13.23, 12.13, 19.36, 31.82, 19.06, 47.33, 20.12, 21.59, 18.38, 13.98, 13.83, 18.31, 14.25, 25.82, 23.74]], [103, "lost_success", null], [[103], "collision", [6.85]], [112, "success", null], [[115, 117, 118, 119], "collision", [114.33, 15.87, 16.77, 6.18]], [121, "lost_success", null], [[121], "collision", [31.9]], [122, "success", null], [[123, 124, 126, 127, 128, 129, 130, 131, 132, 133, 135, 136, 138, 139, 140, 141, 142, 143, 145, 146, 147, 148, 149, 151, 152, 153, 154, 163, 165, 167, 168, 169, 170, 171, 173, 174, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 194, 195, 196, 197], "collision", [22.61, 16.37, 30.34, 13.77, 27.16, 24.16, 29.43, 24.73, 1.43, 17.66, 9.49, 21.18, 29.94, 25.67, 41.85, 24.12, 20.37, 34.87, 27.93, 29.8, 30.28, 66.58, 17.05, 33.53, 10.25, 9.58, 6.47, 7.8, 5.24, 32.29, 27.24, 30.61, 9.97, 25.58, 15.36, 12.76, 26.65, 24.34, 4.46, 33.08, 38.38, 39.93, 25.03, 16.37, 19.7, 18.33, 9.94, 10.64, 7.64, 20.08, 17.95, 3.14, 3.95]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 13, + "task_plan_idx": 12, + "init_config_idx": 63, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 20], "collision", [754.21, 679.8, 519.8]], [24, "contact", null], [24, "grasped", null], [52, "success", null], [57, "lost_success", null], [66, "success", null], [135, "lost_success", null], [137, "success", null], [141, "lost_success", null], [142, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 13, + "task_plan_idx": 137, + "init_config_idx": 84, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [0.74]], [16, "contact", null], [17, "lost_contact", null], [18, "contact", null], [19, "grasped", null], [40, "success", null]], + "articulation_type": "fridge", + "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": 14, + "task_plan_idx": 49, + "init_config_idx": 56, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 17], "collision", [959.21, 389.02, 158.32]], [24, "contact", null], [24, "grasped", null], [50, "success", null], [[51], "collision", [21.67]], [54, "lost_success", null], [55, "success", null], [59, "lost_success", null], [63, "success", null], [[63, 64], "collision", [26.83, 14.88]], [65, "lost_success", null], [66, "success", null], [[66, 67], "collision", [7.94, 9.78]], [68, "lost_success", null], [[68], "collision", [6.58]], [69, "success", null], [[69], "collision", [9.32]], [71, "lost_success", null], [72, "success", null], [[74], "collision", [18.68]], [76, "lost_success", null], [86, "success", null], [114, "lost_success", null], [118, "success", null], [161, "lost_success", null], [163, "success", null], [165, "lost_success", null], [171, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 14, + "task_plan_idx": 78, + "init_config_idx": 120, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 21], "collision", [285.43, 235.02, 351.8]], [22, "contact", null], [22, "grasped", null], [[27], "collision", [0.52]], [44, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [62, "lost_success", null], [65, "success", null], [66, "lost_success", null], [68, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [75, "success", null], [76, "lost_success", null], [78, "success", null], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [83, "success", null], [99, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [109, "lost_success", null], [110, "success", null], [116, "lost_success", null], [117, "success", null], [134, "lost_success", null], [135, "success", null], [182, "lost_success", null], [183, "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": 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": 16, + "task_plan_idx": 65, + "init_config_idx": 72, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 13, 15, 16, 17, 18], "collision", [298.56, 10.67, 711.23, 623.08, 543.12, 577.06]], [19, "contact", null], [20, "grasped", null], [[28, 29, 30], "collision", [1.16, 0.64, 0.32]], [44, "success", null], [45, "lost_success", null], [46, "success", null], [51, "lost_success", null], [53, "success", null], [57, "lost_success", null], [58, "success", null], [68, "lost_success", null], [69, "success", null], [73, "lost_success", null], [74, "success", null], [84, "lost_success", null], [85, "success", null], [86, "lost_success", null], [92, "success", null], [93, "lost_success", null], [96, "success", null], [123, "lost_success", null], [124, "success", null], [132, "lost_success", null], [133, "success", null], [143, "lost_success", null], [152, "success", null], [154, "lost_success", null], [155, "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": 18, + "task_plan_idx": 60, + "init_config_idx": 28, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 16, 17, 18, 19, 20], "collision", [136.7, 111.58, 1366.49, 103.64, 434.48, 586.84]], [21, "contact", null], [22, "grasped", null], [43, "success", null], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [52, "success", null], [56, "lost_success", null], [57, "success", null], [59, "lost_success", null], [90, "success", null], [91, "lost_success", null], [92, "success", null], [94, "lost_success", null], [95, "success", null], [99, "lost_success", null], [100, "success", null], [114, "lost_success", null]], + "articulation_type": "fridge", + "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": 18, + "task_plan_idx": 45, + "init_config_idx": 99, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15], "collision", [38.32, 1197.24, 280.67, 229.44]], [21, "contact", null], [22, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [[23], "collision", [591.07]], [59, "success", null], [60, "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": 19, + "task_plan_idx": 144, + "init_config_idx": 41, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[43, 44, 45, 46], "collision", [33.49, 44.11, 48.1, 50.05]], [47, "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, 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], "collision", [49.33, 53.19, 58.6, 58.2, 56.04, 60.26, 59.03, 61.24, 48.17, 42.74, 38.5, 32.26, 34.52, 30.62, 30.69, 27.59, 24.5, 22.97, 22.19, 22.3, 20.38, 22.91, 23.48, 27.96, 28.03, 25.44, 25.79, 23.43, 24.08, 22.51, 21.74, 23.16, 20.95, 22.29, 20.82, 22.18, 21.04, 22.33, 22.28, 24.5, 26.83, 23.3, 27.26, 28.61, 29.16, 30.54, 27.13, 23.66, 23.01, 24.2, 23.87, 23.21, 22.75, 22.26, 22.85, 22.98, 23.33, 24.77, 22.62, 23.75, 22.3, 24.26, 24.03, 23.64, 24.34, 25.22, 25.08, 24.87, 51.3, 51.79]], [117, "lost_success", null], [[117, 118], "collision", [51.79, 51.08]], [119, "success", null], [[119], "collision", [50.17]], [120, "lost_success", null], [[120], "collision", [51.09]], [121, "success", null], [[121, 122, 123, 124, 125], "collision", [52.78, 51.89, 25.66, 24.03, 24.33]], [126, "lost_success", null], [[126], "collision", [25.15]], [127, "success", null], [[127, 128], "collision", [24.21, 23.12]], [129, "lost_success", null], [[129], "collision", [23.5]], [130, "success", null], [[130, 131, 132, 133], "collision", [25.14, 23.2, 23.68, 23.71]], [134, "lost_success", null], [[134], "collision", [24.01]], [135, "success", null], [[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", [23.79, 24.16, 23.44, 24.28, 24.01, 23.79, 23.89, 23.7, 24.03, 23.31, 24.58, 23.01, 24.17, 23.76, 22.83, 23.76, 25.16, 23.52, 24.85, 22.53, 24.44, 22.98, 23.8, 24.49, 22.67, 23.57, 22.37, 23.71, 23.17, 23.02, 23.03, 24.42, 22.3, 24.12, 23.84, 21.64, 22.73, 21.67, 23.33, 22.82, 23.48, 23.37, 24.12, 22.62, 22.96, 22.86, 22.89, 22.48, 22.52, 22.65, 23.03, 22.54, 23.48, 22.1, 22.97, 22.06, 23.25, 23.13, 23.22, 22.95, 23.25, 21.6, 23.41, 22.21, 24.14]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 19, + "task_plan_idx": 76, + "init_config_idx": 152, + "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], [18, "grasped", null], [40, "success", null], [120, "lost_success", null], [122, "success", null], [125, "lost_success", null], [126, "success", null], [131, "lost_success", null], [132, "success", null], [134, "lost_success", null], [146, "success", null], [147, "lost_success", null], [148, "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": 22, + "task_plan_idx": 103, + "init_config_idx": 87, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13], "collision", [281.77, 184.97, 165.86, 176.39]], [16, "contact", null], [16, "grasped", null], [28, "success", null], [30, "lost_success", null], [32, "success", null], [[46, 48, 52, 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], "collision", [28.33, 20.34, 4.38, 5.71, 15.31, 24.53, 23.64, 29.38, 27.76, 28.46, 23.54, 38.06, 35.11, 38.75, 45.48, 36.27, 30.28, 44.22, 49.64, 44.41, 45.54, 48.38, 46.37, 51.71, 13.22, 26.58, 21.54, 54.98, 55.29, 50.9, 53.78, 39.52]], [84, "lost_success", null], [[84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100], "collision", [40.15, 40.34, 36.86, 38.68, 38.43, 37.52, 33.37, 50.47, 56.26, 54.95, 45.02, 48.53, 22.74, 30.14, 27.8, 38.61, 37.16]], [101, "success", null], [[101, 102], "collision", [37.24, 26.82]], [103, "lost_success", null], [[103], "collision", [4.81]], [104, "success", null], [[104, 105, 106, 137, 138, 139, 140, 141, 142, 143, 144], "collision", [12.62, 17.77, 16.98, 56.29, 21.46, 8.71, 18.02, 19.64, 14.14, 10.35, 15.54]], [148, "lost_success", null], [149, "success", null], [152, "lost_success", null], [153, "success", null], [155, "lost_success", null], [156, "success", null], [158, "lost_success", null], [161, "success", null], [162, "lost_success", null], [163, "success", null], [[169, 170, 171, 172, 173, 174, 175, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197], "collision", [23.12, 25.19, 15.71, 23.78, 78.58, 41.18, 92.35, 79.02, 49.14, 103.62, 49.92, 86.13, 101.07, 78.62, 52.74, 46.98, 51.08, 35.35, 14.29, 0.44, 16.55, 24.84, 26.3, 7.96, 35.88, 11.43, 42.4, 11.85]]], + "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": 24, + "task_plan_idx": 53, + "init_config_idx": 72, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [21.27, 151.57]], [16, "contact", null], [16, "grasped", null], [64, "success", null], [65, "lost_success", null], [68, "success", null], [69, "lost_success", null], [72, "success", null], [74, "lost_success", null], [119, "success", null], [120, "lost_success", null], [[194, 195, 196, 197], "collision", [121.15, 96.71, 67.6, 57.42]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 24, + "task_plan_idx": 62, + "init_config_idx": 0, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8], "collision", [1688.44, 89.63, 179.8, 236.51]], [11, "contact", null], [11, "grasped", null], [22, "success", null], [24, "lost_success", null], [25, "success", null], [33, "lost_success", null], [37, "success", null], [39, "lost_success", null], [46, "success", null], [47, "lost_success", null], [54, "success", null], [55, "lost_success", null], [59, "success", null], [60, "lost_success", null], [63, "success", null], [[78, 79, 80, 92], "collision", [62.37, 40.86, 86.78, 22.59]], [96, "lost_success", null], [97, "success", null], [98, "lost_success", null], [99, "success", null], [101, "lost_success", null], [105, "success", null], [112, "lost_success", null], [114, "success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135], "collision", [16.11, 26.27, 25.33, 27.81, 37.89, 31.22, 29.0, 31.62, 30.37, 28.57, 29.59, 23.86]], [136, "lost_success", null], [[136, 137, 138, 139, 140, 141, 142], "collision", [18.88, 23.12, 27.06, 28.56, 23.18, 14.76, 16.72]], [154, "success", null], [155, "lost_success", null], [[156], "collision", [22.46]], [158, "success", null], [[170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192], "collision", [4.08, 17.52, 16.14, 23.07, 24.48, 25.83, 24.59, 23.76, 29.05, 28.27, 26.61, 29.96, 25.09, 19.82, 23.15, 19.66, 21.49, 14.66, 10.74, 9.38, 6.97, 7.0, 3.85]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 142, + "init_config_idx": 116, + "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], [17, "grasped", null], [[17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32], "collision", [23.65, 10.76, 2.26, 1414.15, 5.02, 4.38, 5.52, 6.8, 7.59, 7.76, 6.91, 0.56, 70.75, 23.88, 119.56]], [39, "success", null], [85, "lost_success", null], [87, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 31, + "init_config_idx": 140, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [223.58]], [15, "contact", null], [15, "grasped", null], [29, "success", null], [31, "lost_success", null], [34, "success", null], [36, "lost_success", null], [41, "success", null], [44, "lost_success", null], [46, "success", null], [48, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null], [69, "lost_success", null], [70, "success", null], [72, "lost_success", null], [73, "success", null], [76, "lost_success", null], [77, "success", null], [80, "lost_success", null], [82, "success", null], [83, "lost_success", null], [86, "success", null], [87, "lost_success", null], [91, "success", null], [161, "lost_success", null], [163, "success", null], [180, "lost_success", null], [181, "success", null], [193, "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": 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": 26, + "task_plan_idx": 163, + "init_config_idx": 44, + "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], [17, "grasped", null], [32, "success", null], [45, "lost_success", null], [47, "success", null], [84, "lost_success", null], [85, "success", null], [123, "lost_success", null], [125, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 26, + "task_plan_idx": 83, + "init_config_idx": 106, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19, 20], "collision", [1955.19, 417.21]], [25, "contact", null], [26, "grasped", null], [[28, 38, 39], "collision", [4.4, 242.92, 109.97]], [47, "success", null], [[52, 53], "collision", [5.07, 23.82]], [54, "lost_success", null], [[54], "collision", [14.83]], [55, "success", null], [[55], "collision", [1.79]], [56, "lost_success", null], [59, "success", null], [61, "lost_success", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [68.84, 74.64, 73.43, 87.74, 76.12, 76.81, 78.67, 74.11, 69.31, 73.98, 51.71, 53.63, 51.52, 52.54, 54.31, 36.29, 33.73, 62.42, 51.55, 43.02, 8.95, 20.22]]], + "articulation_type": "fridge", + "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": 27, + "task_plan_idx": 135, + "init_config_idx": 77, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4], "collision", [1223.92]], [10, "contact", null], [11, "grasped", null], [24, "success", null], [33, "lost_success", null], [49, "success", null], [50, "lost_success", null], [59, "success", null], [67, "lost_success", null], [68, "success", null], [70, "lost_success", null], [71, "success", null], [158, "lost_success", null], [159, "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": 27, + "task_plan_idx": 47, + "init_config_idx": 67, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17], "collision", [77.88, 127.2, 29.15]], [20, "contact", null], [20, "grasped", null], [41, "success", null], [51, "lost_success", null], [55, "success", null], [62, "lost_success", null], [63, "success", null], [[96, 97, 98], "collision", [11.99, 20.09, 17.14]], [101, "lost_success", null], [108, "success", null], [109, "lost_success", null], [110, "success", null], [118, "lost_success", null], [119, "success", null], [143, "lost_success", null], [144, "success", null], [146, "lost_success", null], [147, "success", null], [149, "lost_success", null], [158, "success", null], [[169, 170, 171], "collision", [38.57, 44.07, 27.63]], [172, "lost_success", null], [173, "success", null], [174, "lost_success", null], [188, "success", null], [193, "lost_success", null], [196, "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": 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": 28, + "task_plan_idx": 29, + "init_config_idx": 35, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 8, 9, 10, 11, 12, 13], "collision", [368.5, 301.4, 224.68, 274.32, 214.1, 212.42, 435.47]], [16, "contact", null], [16, "grasped", null], [[19], "collision", [2.8]], [35, "success", null], [92, "lost_success", null], [93, "success", null], [137, "lost_success", null], [138, "success", null], [140, "lost_success", null], [141, "success", null], [159, "lost_success", null], [160, "success", null], [164, "lost_success", null], [165, "success", null], [170, "lost_success", null], [176, "success", null], [[185, 186, 187, 188, 189, 191, 192, 194, 195, 197], "collision", [0.25, 0.2, 0.1, 0.19, 0.11, 0.04, 0.02, 0.16, 0.0, 0.11]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 28, + "task_plan_idx": 65, + "init_config_idx": 34, + "spawn_selection_idx": 81, + "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", [215.81, 55.25, 269.56, 280.97, 154.49, 177.03, 154.69, 9.85]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19], "collision", [210.57, 79.27, 115.34]], [41, "success", null], [42, "lost_success", null], [43, "success", null], [46, "lost_success", null], [47, "success", null], [53, "lost_success", null], [65, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 30, + "task_plan_idx": 60, + "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": [[[10, 11, 12, 13, 14], "collision", [1605.12, 258.15, 247.77, 261.97, 223.66]], [17, "contact", null], [18, "grasped", null], [42, "success", null], [46, "lost_success", null], [49, "success", null], [58, "lost_success", null], [59, "success", null], [114, "lost_success", null], [115, "success", null], [116, "lost_success", null], [118, "success", null], [129, "lost_success", null], [130, "success", null], [137, "lost_success", null], [139, "success", null], [140, "lost_success", null], [141, "success", null], [150, "lost_success", null], [151, "success", null], [182, "lost_success", null], [184, "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": 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": 31, + "task_plan_idx": 12, + "init_config_idx": 54, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 13, 14, 15, 19], "collision", [60.75, 290.83, 115.0, 82.93, 1706.56]], [20, "contact", null], [22, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [47, "success", null], [48, "lost_success", null], [49, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [60, "success", null], [71, "lost_success", null], [72, "success", null], [85, "lost_success", null], [86, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [162, "success", null], [177, "lost_success", null], [178, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 31, + "task_plan_idx": 148, + "init_config_idx": 49, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 13, 15], "collision", [31.27, 146.0, 141.42]], [17, "contact", null], [[17], "collision", [32.39]], [18, "grasped", null], [38, "success", null], [40, "lost_success", null], [42, "success", null], [59, "lost_success", null], [60, "success", null], [82, "lost_success", null], [119, "success", null], [120, "lost_success", null], [121, "success", null], [126, "lost_success", null], [129, "success", null], [136, "lost_success", null], [137, "success", null], [144, "lost_success", null], [145, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 32, + "task_plan_idx": 162, + "init_config_idx": 110, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 8], "collision", [390.5, 105.45]], [13, "contact", null], [14, "grasped", null], [[20, 21, 22], "collision", [61.48, 75.57, 48.93]], [25, "success", null], [[42], "collision", [0.53]], [95, "lost_success", null], [96, "success", null], [97, "lost_success", null], [98, "success", null], [116, "lost_success", null], [118, "success", null], [130, "lost_success", null], [131, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 32, + "task_plan_idx": 87, + "init_config_idx": 55, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 4, 6, 7, 8], "collision", [28.79, 39.56, 104.9, 17.42, 124.28]], [10, "contact", null], [11, "grasped", null], [[19, 20], "collision", [219.15, 90.56]], [23, "success", null], [24, "lost_success", null], [26, "success", null], [27, "lost_success", null], [36, "success", null], [37, "lost_success", null], [38, "success", null], [39, "lost_success", null], [51, "success", null], [52, "lost_success", null], [59, "success", null], [62, "lost_success", null], [76, "success", null], [81, "lost_success", null], [82, "success", null], [105, "lost_success", null], [107, "success", null], [108, "lost_success", null], [109, "success", null], [111, "lost_success", null], [112, "success", null], [120, "lost_success", null], [121, "success", null], [138, "lost_success", null], [151, "success", null], [163, "lost_success", null], [167, "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": 32, + "task_plan_idx": 40, + "init_config_idx": 109, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9], "collision", [2273.16, 837.94]], [13, "contact", null], [14, "lost_contact", null], [15, "contact", null], [15, "grasped", null], [27, "success", null], [[33, 40, 41, 42], "collision", [2.38, 7.59, 9.2, 4.29]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 33, + "task_plan_idx": 1, + "init_config_idx": 68, + "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", [1924.56, 85.06, 204.12]], [12, "contact", null], [12, "grasped", null], [35, "success", null], [54, "lost_success", null], [55, "success", null], [112, "lost_success", null], [115, "success", null]], + "articulation_type": "fridge", + "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": 33, + "task_plan_idx": 110, + "init_config_idx": 7, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12], "collision", [1599.96, 104.0, 196.43, 1.21]], [16, "contact", null], [16, "grasped", null], [[17, 18, 19, 21, 22, 23, 24, 25, 26], "collision", [0.86, 15.25, 21.14, 1.59, 1.85, 0.92, 0.66, 0.31, 0.15]], [32, "success", null], [33, "lost_success", null], [34, "success", null], [37, "lost_success", null], [39, "success", null], [43, "lost_success", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [65, "lost_success", null], [66, "success", null], [68, "lost_success", null], [79, "success", null], [80, "lost_success", null], [89, "success", null], [121, "lost_success", null], [133, "success", null], [135, "lost_success", null], [[142, 143], "collision", [95.36, 60.56]], [144, "success", null], [[144, 148, 149], "collision", [42.28, 26.38, 19.37]], [151, "lost_success", null], [157, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 33, + "task_plan_idx": 91, + "init_config_idx": 15, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8], "collision", [402.78, 237.75, 242.16, 185.16]], [15, "contact", null], [15, "grasped", null], [28, "success", null], [39, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [48, "lost_success", null], [54, "success", null], [91, "lost_success", null], [93, "success", null], [130, "lost_success", null], [132, "success", null], [141, "lost_success", null], [143, "success", null], [144, "lost_success", null], [145, "success", null]], + "articulation_type": "fridge", + "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": 33, + "task_plan_idx": 134, + "init_config_idx": 103, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19], "collision", [251.23, 232.34]], [22, "contact", null], [22, "grasped", null], [[22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42], "collision", [168.01, 8.0, 17.86, 68.77, 33.77, 21.38, 17.4, 21.11, 19.05, 20.87, 20.61, 20.18, 19.21, 15.99, 9.34, 12.4, 13.14, 15.73, 16.56, 17.07]], [43, "success", null], [[43], "collision", [17.52]], [44, "lost_success", null], [[44], "collision", [17.6]], [45, "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, 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], "collision", [16.27, 16.68, 17.42, 16.6, 15.99, 16.1, 16.6, 16.83, 17.54, 16.72, 16.45, 17.6, 16.19, 15.56, 15.47, 15.69, 15.96, 17.52, 16.4, 17.47, 16.62, 17.57, 15.98, 16.7, 17.4, 16.39, 15.9, 16.12, 16.81, 16.86, 17.19, 16.34, 16.77, 17.25, 16.66, 16.33, 16.07, 15.84, 15.67, 16.97, 16.23, 16.09, 16.88, 16.28, 16.83, 16.84, 17.54, 16.16, 16.29, 15.89, 15.33, 17.04, 16.56, 16.7, 15.88, 16.08, 15.93, 18.11, 16.28, 17.15, 15.99, 16.36, 15.35, 16.38, 16.2, 15.93, 15.39, 16.16, 16.01, 17.8, 16.13, 16.65, 16.24, 16.42, 16.47, 15.75, 16.31, 16.77, 15.9, 16.15, 17.56, 16.87, 15.52, 16.19, 16.43, 16.41, 16.49, 15.76, 16.93, 17.29, 15.83, 16.73, 15.79, 15.98, 17.41, 15.89, 16.86, 16.45, 16.13, 15.24, 15.53, 15.6, 17.43, 16.03, 16.71, 15.81, 15.76, 15.44, 16.82, 15.33, 16.58, 16.02, 16.52, 17.16, 65.23, 65.66, 19.74, 17.93, 17.07, 16.25, 16.51, 94.03, 80.41, 86.63, 32.95, 48.18, 91.23, 74.21, 15.79, 54.87, 16.82, 50.59, 15.25, 71.4]], [179, "lost_success", null], [[179], "collision", [136.01]], [180, "success", null], [[180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [41.14, 55.52, 79.96, 40.64, 62.26, 34.93, 16.86, 26.81, 16.08, 38.21, 48.56, 17.72, 17.13, 16.55, 16.88, 17.87, 20.93, 28.38, 16.84, 37.43]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 34, + "task_plan_idx": 27, + "init_config_idx": 80, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 16], "collision", [173.2, 185.24, 557.29]], [20, "contact", null], [21, "grasped", null], [[24, 25], "collision", [48.31, 49.52]], [36, "success", null], [106, "lost_success", null], [111, "success", null], [132, "lost_success", null], [157, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 34, + "task_plan_idx": 82, + "init_config_idx": 136, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12], "collision", [178.14, 1130.08, 170.15, 15.31]], [15, "contact", null], [15, "grasped", null], [[25], "collision", [110.35]], [68, "success", null], [94, "lost_success", null], [95, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 46, + "init_config_idx": 56, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [116.27]], [15, "contact", null], [15, "grasped", null], [[15, 16, 17, 18, 24], "collision", [43.48, 25.35, 2.14, 0.18, 0.54]], [36, "success", null], [40, "lost_success", null], [44, "success", null], [[62, 63, 64, 65, 66, 67, 68, 69, 76, 80, 82, 84, 87, 90, 92, 97, 100, 108, 112, 113, 115, 116, 118, 119, 120, 121, 122, 123, 124, 126, 127, 128, 129, 130, 132, 133, 134, 136, 139, 148, 149], "collision", [347.08, 241.75, 115.44, 77.4, 82.68, 78.81, 87.81, 50.69, 16.86, 34.99, 25.86, 3.1, 38.08, 124.37, 26.56, 13.8, 51.84, 55.76, 44.06, 21.3, 0.07, 0.86, 13.03, 4.24, 0.6, 4.39, 8.38, 6.31, 0.84, 0.41, 9.6, 8.2, 8.63, 22.44, 1.31, 4.97, 8.8, 12.01, 3.8, 25.31, 16.59]], [152, "lost_success", null], [154, "success", null], [157, "lost_success", null], [160, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 144, + "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": [[[10, 11], "collision", [591.37, 272.37]], [15, "contact", null], [15, "grasped", null], [27, "success", null], [[100, 101, 102, 103, 104, 105, 106, 107, 108, 109], "collision", [118.07, 142.9, 55.91, 35.89, 9.81, 35.51, 19.52, 104.13, 192.09, 309.14]], [110, "lost_success", null], [[110, 111], "collision", [341.71, 386.84]], [112, "success", null], [[112], "collision", [306.23]], [113, "lost_success", null], [[113], "collision", [249.95]], [114, "success", null], [[114, 115, 116, 117, 118, 119, 120, 121, 122, 123], "collision", [233.28, 210.49, 187.01, 226.51, 131.07, 163.9, 127.23, 135.61, 122.16, 98.23]], [128, "lost_success", null], [134, "success", null], [146, "lost_success", null], [147, "success", null], [158, "lost_success", null], [160, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 36, + "task_plan_idx": 120, + "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": [[[6, 7, 8, 9], "collision", [2193.34, 251.68, 238.04, 38.53]], [14, "contact", null], [14, "grasped", null], [[15], "collision", [80.02]], [30, "success", null], [35, "lost_success", null], [36, "success", null], [37, "lost_success", null], [49, "success", null], [57, "lost_success", null], [61, "success", null], [66, "lost_success", null], [68, "success", null], [76, "lost_success", null], [79, "success", null], [104, "lost_success", null], [110, "success", null], [133, "lost_success", null], [135, "success", null], [162, "lost_success", null], [164, "success", null], [166, "lost_success", null], [170, "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": 37, + "task_plan_idx": 120, + "init_config_idx": 131, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [319.1]], [17, "contact", null], [17, "grasped", null], [[17], "collision", [795.09]], [34, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [50, "success", null], [143, "lost_success", null], [144, "success", null], [188, "lost_success", null]], + "articulation_type": "fridge", + "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": 37, + "task_plan_idx": 2, + "init_config_idx": 83, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [137.39, 1934.2]], [17, "contact", null], [[17], "collision", [0.93]], [18, "grasped", null], [39, "success", null], [150, "lost_success", null], [151, "success", null], [159, "lost_success", null], [160, "success", null], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null], [166, "success", null], [167, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 38, + "task_plan_idx": 55, + "init_config_idx": 62, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 32, 33, 34, 35, 36], "collision", [1725.63, 9.32, 3.57, 68.33, 126.48, 501.75, 123.91, 125.6, 47.51, 50.2, 342.52, 316.98, 32.06, 33.86, 214.0]], [46, "contact", null], [47, "lost_contact", null], [50, "contact", null], [51, "lost_contact", null], [85, "contact", null], [85, "grasped", null], [173, "success", null], [175, "lost_success", null], [176, "success", null], [180, "lost_success", null], [191, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 39, + "task_plan_idx": 102, + "init_config_idx": 48, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [37, "success", null], [44, "lost_success", null], [45, "success", null], [52, "lost_success", null], [55, "success", null], [57, "lost_success", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [63, "success", null], [65, "lost_success", null], [67, "success", null], [68, "lost_success", null], [70, "success", null], [71, "lost_success", null], [73, "success", null], [74, "lost_success", null], [77, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [83, "success", null], [84, "lost_success", null], [88, "success", null], [89, "lost_success", null], [92, "success", null], [93, "lost_success", null], [98, "success", null], [99, "lost_success", null], [105, "success", null], [106, "lost_success", null], [107, "success", null], [108, "lost_success", null], [109, "success", null], [110, "lost_success", null], [116, "success", null], [156, "lost_success", null], [157, "success", null], [[167], "collision", [30.15]], [183, "lost_success", null], [184, "success", null], [185, "lost_success", null], [186, "success", null], [[186, 187, 195, 197, 199], "collision", [62.18, 10.72, 24.38, 26.02, 102.54]]], + "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": 39, + "task_plan_idx": 22, + "init_config_idx": 65, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 32, 33, 34], "collision", [417.54, 284.25, 267.52, 236.92]], [40, "contact", null], [40, "grasped", null], [68, "success", null], [73, "lost_success", null], [76, "success", null], [116, "lost_success", null], [121, "success", null], [127, "lost_success", null], [128, "success", null], [132, "lost_success", null], [133, "success", null], [134, "lost_success", null], [136, "success", null], [138, "lost_success", null], [139, "success", null], [141, "lost_success", null], [142, "success", null], [143, "lost_success", null], [144, "success", null], [147, "lost_success", null], [148, "success", null], [151, "lost_success", null], [152, "success", null], [157, "lost_success", null], [159, "success", null], [160, "lost_success", null], [162, "success", null], [167, "lost_success", null], [174, "success", null], [177, "lost_success", null], [178, "success", null], [179, "lost_success", null], [183, "success", null], [185, "lost_success", null], [187, "success", null], [192, "lost_success", null], [194, "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": 40, + "task_plan_idx": 69, + "init_config_idx": 106, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 9, 10], "collision", [1081.63, 374.37, 193.05]], [13, "contact", null], [13, "grasped", null], [35, "success", null], [49, "lost_success", null], [65, "success", null], [[78, 79, 80, 84], "collision", [73.88, 133.07, 155.45, 48.34]], [90, "lost_success", null], [93, "success", null], [94, "lost_success", null], [99, "success", null], [119, "lost_success", null], [120, "success", null], [121, "lost_success", null], [122, "success", null], [139, "lost_success", null], [140, "success", null], [179, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 40, + "task_plan_idx": 44, + "init_config_idx": 42, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11], "collision", [98.85, 72.64]], [14, "contact", null], [14, "grasped", null], [[19], "collision", [56.94]], [26, "success", null], [27, "lost_success", null], [30, "success", null], [[31], "collision", [257.32]], [32, "lost_success", null], [[32, 33, 35, 36], "collision", [90.0, 83.87, 51.12, 11.02]], [37, "success", null], [[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", [31.4, 26.77, 38.98, 50.62, 49.55, 35.68, 29.54, 29.69, 52.77, 43.04, 47.32, 61.63, 66.98, 63.17, 68.06, 68.34, 81.59, 81.07, 74.11, 71.95, 50.89, 39.12, 45.62, 26.73, 20.42, 18.76, 22.15, 37.41, 32.77, 20.32, 14.8, 7.24]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 40, + "task_plan_idx": 55, + "init_config_idx": 57, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [387.93, 103.76]], [12, "contact", null], [12, "grasped", null], [[12], "collision", [42.99]], [24, "success", null], [26, "lost_success", null], [27, "success", null], [29, "lost_success", null], [30, "success", null], [55, "lost_success", null], [56, "success", null], [64, "lost_success", null], [66, "success", null], [71, "lost_success", null], [75, "success", null], [119, "lost_success", null], [120, "success", null], [121, "lost_success", null], [122, "success", null], [127, "lost_success", null], [128, "success", null], [129, "lost_success", null], [130, "success", null], [133, "lost_success", null], [135, "success", null], [142, "lost_success", null], [143, "success", null], [157, "lost_success", null], [158, "success", null], [160, "lost_success", null], [169, "success", null], [172, "lost_success", null], [174, "success", null], [175, "lost_success", null], [181, "success", null], [182, "lost_success", null], [184, "success", null], [189, "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": 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": 41, + "task_plan_idx": 153, + "init_config_idx": 65, + "spawn_selection_idx": 30, + "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], [32, "lost_success", null], [35, "success", null], [46, "lost_success", null], [57, "success", null], [62, "lost_success", null], [63, "success", null], [85, "lost_success", null], [87, "success", null], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [91, "success", null], [93, "lost_success", null], [95, "success", null], [96, "lost_success", null], [97, "success", null], [99, "lost_success", null], [110, "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": 42, + "task_plan_idx": 0, + "init_config_idx": 109, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8], "collision", [1164.23, 179.88]], [14, "contact", null], [14, "grasped", null], [31, "success", null], [32, "lost_success", null], [33, "success", null], [35, "lost_success", null], [36, "success", null], [51, "lost_success", null], [57, "success", null], [60, "lost_success", null], [64, "success", null], [65, "lost_success", null], [68, "success", null], [99, "lost_success", null], [100, "success", null], [112, "lost_success", null], [122, "success", null], [[125, 126, 127, 128], "collision", [38.92, 26.7, 12.56, 19.2]], [129, "lost_success", null], [[129], "collision", [6.79]], [132, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [147, "success", null], [149, "lost_success", null], [151, "success", null], [154, "lost_success", null], [155, "success", null], [157, "lost_success", null], [163, "success", null], [185, "lost_success", null], [186, "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": 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": 42, + "task_plan_idx": 27, + "init_config_idx": 106, + "spawn_selection_idx": 73, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 12], "collision", [465.32, 443.43, 543.7, 0.68]], [13, "contact", null], [13, "grasped", null], [30, "success", null], [[71, 72, 73, 74, 75, 76, 78, 82, 84], "collision", [52.32, 69.14, 162.17, 135.19, 151.71, 61.68, 26.4, 13.55, 2.34]], [101, "lost_success", null], [108, "success", null], [122, "lost_success", null], [127, "success", null], [128, "lost_success", null], [131, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 43, + "task_plan_idx": 13, + "init_config_idx": 59, + "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, 13], "collision", [806.29, 257.73, 194.57, 227.74, 154.92, 105.72, 0.09]], [18, "contact", null], [18, "grasped", null], [[21], "collision", [30.48]], [45, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [57, "success", null], [[92, 93], "collision", [2.64, 5.4]], [94, "lost_success", null], [[94], "collision", [2.27]], [95, "success", null], [[95, 97, 98, 100, 103, 104, 106, 107, 108], "collision", [4.05, 10.88, 3.3, 2.05, 9.84, 5.15, 6.46, 2.98, 1.47]], [126, "lost_success", null], [128, "success", null], [129, "lost_success", null], [131, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [136, "success", null], [137, "lost_success", null], [138, "success", null], [153, "lost_success", null], [181, "success", null], [183, "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": 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": 44, + "task_plan_idx": 83, + "init_config_idx": 139, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [37, "success", null], [40, "lost_success", null], [[40], "collision", [1007.21]], [43, "success", null], [44, "lost_success", null], [[45], "collision", [220.3]], [46, "success", null], [[51, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [64.98, 20.99, 53.91, 29.97, 39.77, 40.22, 57.88, 61.96, 87.74, 128.37, 75.39, 94.48, 101.4, 38.28, 43.87, 40.46, 20.45, 3.42]], [193, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 44, + "task_plan_idx": 99, + "init_config_idx": 29, + "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", [388.97, 209.27, 33.2]], [17, "contact", null], [18, "grasped", null], [41, "success", null], [46, "lost_success", null], [47, "success", null], [[50], "collision", [92.11]], [55, "lost_success", null], [64, "success", null], [67, "lost_success", null], [68, "success", null], [[71, 72], "collision", [26.15, 17.97]], [79, "lost_success", null], [80, "success", null], [83, "lost_success", null], [84, "success", null], [89, "lost_success", null], [90, "success", null], [91, "lost_success", null], [92, "success", null], [121, "lost_success", null], [125, "success", null], [129, "lost_success", null], [130, "success", null]], + "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": 45, + "task_plan_idx": 96, + "init_config_idx": 35, + "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], [18, "grasped", null], [36, "success", null], [38, "lost_success", null], [45, "success", null], [47, "lost_success", null], [48, "success", null], [[186, 187, 197], "collision", [251.32, 41.53, 218.56]]], + "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": 47, + "task_plan_idx": 116, + "init_config_idx": 131, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23], "collision", [249.48, 123.07, 187.9, 166.26, 181.66, 253.86, 504.41, 149.29, 227.59, 541.3, 488.22, 164.32]], [24, "contact", null], [[24, 25], "collision", [619.2, 863.33]], [28, "lost_contact", null], [30, "contact", null], [31, "lost_contact", null], [40, "contact", null], [40, "grasped", null], [70, "success", null], [80, "lost_success", null], [93, "success", null], [94, "lost_success", null], [96, "success", null], [107, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 48, + "task_plan_idx": 60, + "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": [[[25], "collision", [99.9]], [30, "contact", null], [30, "grasped", null], [52, "success", null], [[52], "collision", [10.4]], [53, "lost_success", null], [[54, 55, 56, 57, 58], "collision", [212.38, 209.52, 161.17, 182.73, 154.67]], [61, "success", null], [64, "lost_success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 77, 80], "collision", [19.96, 22.4, 25.65, 32.2, 23.4, 23.18, 19.39, 5.78, 8.72, 36.11]], [81, "success", null], [[81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94], "collision", [34.2, 27.66, 45.82, 41.83, 34.92, 35.8, 36.09, 35.85, 38.57, 42.24, 36.81, 39.34, 35.94, 17.74]], [95, "lost_success", null], [96, "success", null], [[96, 97, 98, 99, 101, 102], "collision", [31.14, 21.18, 20.57, 40.27, 0.11, 37.79]], [105, "lost_success", null], [108, "success", null], [[113, 114], "collision", [15.56, 26.47]], [115, "lost_success", null], [[115], "collision", [12.33]], [116, "success", null], [[116, 117], "collision", [37.04, 44.92]], [118, "lost_success", null], [[118], "collision", [43.71]], [128, "success", null], [132, "lost_success", null], [148, "success", null], [149, "lost_success", null], [161, "success", null], [172, "lost_success", null], [173, "success", null], [185, "lost_success", null], [187, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 48, + "task_plan_idx": 3, + "init_config_idx": 8, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [619.5]], [9, "contact", null], [[9], "collision", [22.53]], [10, "grasped", null], [[10, 11, 12, 13, 14], "collision", [14.59, 18.04, 12.26, 12.46, 10.93]], [22, "success", null], [164, "lost_success", null], [[164, 165, 166], "collision", [7.74, 32.62, 40.31]], [167, "success", null], [[167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 188], "collision", [79.53, 69.12, 62.26, 50.54, 55.85, 35.26, 36.0, 22.65, 19.17, 22.17, 37.04, 18.54, 17.2, 15.82, 9.93, 15.07, 10.96, 5.68, 2.0, 1.25, 2.13]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 48, + "task_plan_idx": 44, + "init_config_idx": 51, + "spawn_selection_idx": 30, + "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", [13.21, 99.37, 147.7, 148.22, 198.56, 51.17]], [18, "contact", null], [18, "grasped", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [45, "lost_success", null], [46, "success", null], [52, "lost_success", null], [53, "success", null], [55, "lost_success", null], [57, "success", null], [62, "lost_success", null], [63, "success", null], [77, "lost_success", null], [78, "success", null], [81, "lost_success", null], [82, "success", null], [89, "lost_success", null], [90, "success", null], [91, "lost_success", null], [92, "success", null], [94, "lost_success", null], [95, "success", null], [115, "lost_success", null], [116, "success", null], [140, "lost_success", null], [142, "success", null], [157, "lost_success", null], [158, "success", null], [161, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null], [176, "lost_success", null], [177, "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": 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": 49, + "task_plan_idx": 80, + "init_config_idx": 98, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 15], "collision", [969.5, 273.48, 166.25, 128.69]], [19, "contact", null], [19, "grasped", null], [40, "success", null], [46, "lost_success", null], [47, "success", null], [[81, 87, 88, 89, 90, 91, 92, 93, 94, 95], "collision", [1.8, 8.09, 9.73, 20.95, 21.19, 12.17, 17.63, 32.86, 23.89, 26.25]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 49, + "task_plan_idx": 53, + "init_config_idx": 8, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22], "collision", [123.12]], [23, "contact", null], [23, "grasped", null], [[43, 44], "collision", [124.68, 29.88]], [46, "success", null], [[46], "collision", [16.05]], [49, "lost_success", null], [65, "success", null], [70, "lost_success", null], [78, "success", null], [90, "lost_success", null], [91, "success", null], [92, "lost_success", null], [97, "success", null], [98, "lost_success", null], [99, "success", null], [106, "lost_success", null], [109, "success", null], [111, "lost_success", null]], + "articulation_type": "fridge", + "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": 49, + "task_plan_idx": 2, + "init_config_idx": 0, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [14, "grasped", null], [[16, 19], "collision", [493.97, 207.69]], [28, "success", null], [29, "lost_success", null], [31, "success", null], [32, "lost_success", null], [35, "success", null], [37, "lost_success", null], [38, "success", null], [39, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [46, "lost_success", null], [48, "success", null], [49, "lost_success", null], [[56], "collision", [151.07]], [61, "success", null], [66, "lost_success", null], [77, "success", null], [90, "lost_success", null], [91, "success", null], [94, "lost_success", null], [96, "success", null], [100, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [109, "lost_success", null], [115, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 49, + "task_plan_idx": 23, + "init_config_idx": 96, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7], "collision", [1.49, 2.87]], [14, "contact", null], [14, "grasped", null], [33, "success", null], [[33], "collision", [1.28]], [34, "lost_success", null], [35, "success", null], [38, "lost_success", null], [39, "success", null], [[40, 41, 42], "collision", [0.16, 0.2, 0.25]], [43, "lost_success", null], [[43, 44, 45], "collision", [0.2, 0.21, 0.18]], [46, "success", null], [[46, 47], "collision", [0.17, 0.21]], [48, "lost_success", null], [[48], "collision", [0.23]], [49, "success", null], [[49, 50, 51, 52], "collision", [0.25, 0.17, 0.2, 0.21]], [53, "lost_success", null], [[53], "collision", [0.19]], [54, "success", null], [[54], "collision", [0.2]], [55, "lost_success", null], [[55, 56, 57, 58, 59], "collision", [0.23, 0.26, 0.22, 0.22, 0.19]], [60, "success", null], [[60], "collision", [0.21]], [61, "lost_success", null], [[61], "collision", [0.16]], [62, "success", null], [[62, 63, 64, 65, 66, 67], "collision", [0.2, 0.17, 0.12, 0.19, 0.2, 0.21]], [68, "lost_success", null], [[68], "collision", [0.22]], [69, "success", null], [[69, 70], "collision", [0.22, 0.2]], [71, "lost_success", null], [[71, 72, 73, 74], "collision", [0.21, 0.2, 0.21, 0.19]], [75, "success", null], [[75, 76, 77], "collision", [0.19, 0.21, 0.14]], [78, "lost_success", null], [[78, 79], "collision", [0.21, 0.19]], [80, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101], "collision", [0.2, 0.2, 0.24, 0.19, 0.19, 0.19, 0.19, 0.18, 0.19, 0.15, 0.2, 0.15, 0.2, 0.19, 0.19, 0.19, 0.18, 0.18, 0.18, 0.14, 0.2, 0.03]], [104, "lost_success", null], [109, "success", null], [114, "lost_success", null], [119, "success", null], [120, "lost_success", null]], + "articulation_type": "fridge", + "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": 50, + "task_plan_idx": 16, + "init_config_idx": 127, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [164.31]], [10, "contact", null], [11, "grasped", null], [[11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21], "collision", [16.57, 36.42, 35.99, 38.16, 15.16, 28.99, 16.15, 20.16, 63.12, 49.69, 51.57]], [22, "success", null], [[22, 23, 24, 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], "collision", [42.39, 38.22, 36.2, 40.49, 31.91, 37.19, 36.4, 34.8, 41.1, 38.19, 30.13, 28.31, 42.64, 26.53, 29.5, 19.2, 35.54, 20.58, 17.67, 29.04, 23.22, 21.86, 26.84, 27.29, 29.05, 22.96, 22.29, 29.28, 46.01, 43.99, 56.2, 45.29]], [54, "lost_success", null], [[54, 55, 56], "collision", [41.76, 33.37, 23.47]], [57, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 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], "collision", [21.83, 22.94, 22.29, 25.2, 29.63, 27.41, 26.68, 27.88, 23.57, 32.95, 28.7, 27.73, 20.72, 19.01, 16.8, 23.6, 24.28, 21.59, 23.05, 16.07, 11.22, 7.78, 10.85, 6.26, 11.29, 6.08, 10.16, 6.22, 15.83, 12.3, 11.6, 16.26, 16.16, 16.9, 16.09, 10.04, 15.83, 15.72, 12.99, 11.99, 16.73, 13.44, 13.18, 15.57, 12.41, 22.15, 22.09, 23.81, 11.9, 13.63, 13.17, 13.19, 13.85, 27.17, 25.08, 30.09, 30.51, 27.1, 28.05, 25.58, 27.69, 34.74, 32.45, 39.39, 42.91, 39.27, 40.85, 33.96, 26.08, 28.93, 27.86, 28.5, 27.83, 28.37, 25.33, 26.31, 25.96, 24.66, 24.9, 36.32, 32.72, 31.19, 34.49, 33.66, 19.7, 21.18, 21.8, 17.35, 15.06, 15.45, 16.46, 13.04, 14.76, 13.7, 14.48, 10.5, 9.63, 10.52, 32.58, 16.64, 17.66, 28.18, 28.99, 30.15, 29.62, 15.92, 26.45, 23.93, 24.73, 26.68]], [168, "lost_success", null], [[168], "collision", [27.05]], [169, "success", null], [[169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181], "collision", [21.59, 22.86, 20.73, 20.31, 17.71, 17.03, 18.03, 16.04, 13.59, 19.32, 15.11, 31.45, 3.85]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 115, + "init_config_idx": 120, + "spawn_selection_idx": 41, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 13, 14], "collision", [278.55, 237.98, 238.1]], [18, "contact", null], [18, "grasped", null], [41, "success", null], [45, "lost_success", null], [54, "success", null], [58, "lost_success", null], [75, "success", null], [88, "lost_success", null], [92, "success", null], [93, "lost_success", null], [95, "success", null], [97, "lost_success", null], [98, "success", null], [134, "lost_success", null], [135, "success", null], [159, "lost_success", null], [169, "success", null], [171, "lost_success", null], [176, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 117, + "init_config_idx": 22, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16], "collision", [298.47, 255.27, 274.1]], [19, "contact", null], [19, "grasped", null], [44, "success", null], [[52, 53, 54], "collision", [73.84, 22.43, 30.66]], [57, "lost_success", null], [58, "success", null], [[59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [69.16, 69.73, 66.63, 60.73, 51.11, 65.12, 54.95, 64.35, 66.69, 70.0, 70.54, 55.47, 38.76, 52.76, 52.61, 34.1, 41.79, 26.82, 20.05, 7.49]], [87, "lost_success", null], [[94, 95, 96], "collision", [6.33, 46.82, 33.56]], [97, "success", null], [[97, 98, 99, 100, 101, 102, 103, 104, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 124, 125, 126, 127, 129, 130, 131, 132, 133, 134, 135, 137, 139, 140, 142, 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, 178, 179, 183, 184, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195], "collision", [10.24, 29.18, 27.2, 37.96, 36.01, 33.67, 27.88, 26.83, 35.69, 27.66, 20.54, 26.72, 27.43, 20.24, 15.39, 11.47, 1.61, 16.23, 26.07, 10.7, 5.38, 23.41, 23.53, 31.49, 20.28, 37.16, 0.17, 14.41, 15.23, 26.26, 4.03, 16.77, 16.82, 18.11, 8.84, 10.97, 18.51, 11.47, 22.78, 14.41, 13.57, 2.12, 15.01, 32.2, 16.53, 28.24, 30.27, 22.91, 41.93, 44.0, 32.14, 31.87, 32.74, 33.86, 38.74, 49.98, 74.52, 36.2, 34.2, 30.81, 30.35, 35.56, 44.14, 33.57, 38.88, 41.06, 38.25, 16.9, 14.4, 12.41, 2.49, 7.74, 12.27, 7.79, 10.93, 30.07, 26.69, 15.1, 31.45, 28.13, 22.23, 11.11, 15.55, 0.49]]], + "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": 51, + "task_plan_idx": 73, + "init_config_idx": 25, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6], "collision", [311.72, 162.04]], [12, "contact", null], [12, "grasped", null], [[12, 13, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24], "collision", [6.75, 2515.71, 8.58, 4.12, 4.56, 3.74, 3.82, 5.56, 3.54, 1.95, 2.34, 1.47]], [25, "success", 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], "collision", [3.08, 1.78, 2.03, 0.64, 1.2, 1.52, 1.54, 1.95, 1.09, 2.13, 1.42, 0.8, 0.86, 0.64, 0.83, 1.03, 0.69, 0.83, 1.72, 1.31, 1.35, 1.74, 1.15, 0.89, 1.28, 1.49, 0.76, 0.9, 0.56, 1.42, 1.15, 1.27, 1.05, 1.09, 1.36, 1.25]], [61, "lost_success", null], [[61, 62], "collision", [1.26, 1.02]], [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, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109], "collision", [0.85, 1.19, 0.58, 1.32, 1.3, 1.0, 0.7, 1.57, 1.25, 1.51, 1.42, 0.94, 0.78, 0.94, 0.64, 1.22, 1.77, 1.34, 1.08, 1.09, 1.5, 0.89, 0.63, 1.24, 1.63, 0.62, 0.63, 1.29, 0.75, 0.88, 1.05, 2.32, 1.19, 1.56, 1.37, 1.03, 0.7, 0.51, 1.15, 0.9, 0.98, 1.22, 0.06, 1.13, 1.51, 3.31, 0.27]], [110, "lost_success", null], [[110], "collision", [1.39]], [111, "success", null], [[111, 112, 113, 114], "collision", [1.95, 1.97, 1.6, 1.05]], [115, "lost_success", null], [[115], "collision", [3.15]], [116, "success", null], [[116, 117, 118, 119, 120], "collision", [0.64, 0.67, 1.25, 0.64, 0.24]], [121, "lost_success", null], [[121], "collision", [1.29]], [122, "success", null], [[122], "collision", [1.56]], [123, "lost_success", null], [[123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139], "collision", [0.97, 0.58, 0.72, 1.23, 0.41, 1.3, 1.07, 1.02, 0.91, 1.31, 1.83, 0.73, 2.22, 1.63, 2.12, 0.91, 0.07]], [140, "success", null], [[140], "collision", [1.93]], [141, "lost_success", null], [[141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153], "collision", [0.86, 1.15, 2.24, 1.27, 1.45, 1.01, 1.0, 0.35, 0.43, 0.48, 1.57, 0.87, 1.53]], [154, "success", null], [[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", [1.18, 1.05, 0.95, 1.38, 2.05, 1.75, 1.41, 1.28, 1.49, 1.57, 1.14, 2.02, 0.91, 1.26, 1.3, 1.73, 0.59, 0.61, 2.98, 1.43, 1.44, 1.36, 0.99, 1.22, 1.35, 0.81, 1.28, 0.93, 1.37, 0.83]], [184, "lost_success", null], [[184, 185], "collision", [0.74, 1.96]], [186, "success", null], [[186], "collision", [1.09]], [187, "lost_success", null], [[187, 188], "collision", [0.63, 0.37]], [189, "success", null], [[189, 190, 191, 192, 193, 194, 195, 196, 197], "collision", [0.89, 1.05, 1.29, 0.45, 1.62, 0.92, 2.26, 1.4, 0.34]], [198, "lost_success", null], [[198, 199], "collision", [2.56, 0.63]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 51, + "task_plan_idx": 126, + "init_config_idx": 22, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 16], "collision", [66.37, 644.92]], [18, "contact", null], [18, "grasped", null], [[26], "collision", [1525.04]], [33, "success", null], [[36, 37, 38], "collision", [4.05, 4.1, 5.74]], [52, "lost_success", null], [57, "success", null], [112, "lost_success", null], [113, "success", null], [116, "lost_success", null], [117, "success", null], [134, "lost_success", null], [135, "success", null], [[158, 159, 160, 161, 162, 164, 165, 166], "collision", [8.75, 23.88, 34.98, 48.6, 47.11, 68.76, 3.82, 51.48]], [167, "lost_success", null], [168, "success", null], [169, "lost_success", null], [174, "success", null], [192, "lost_success", null], [193, "success", null], [194, "lost_success", null], [195, "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": 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": 51, + "task_plan_idx": 73, + "init_config_idx": 25, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [318.37]], [13, "contact", null], [14, "lost_contact", null], [16, "contact", null], [17, "grasped", null], [35, "success", null], [43, "lost_success", null], [44, "success", null], [46, "lost_success", null], [49, "success", null], [58, "lost_success", null], [59, "success", null], [78, "lost_success", null], [88, "success", null], [93, "lost_success", null], [94, "success", null], [108, "lost_success", null], [109, "success", null], [122, "lost_success", null], [123, "success", null], [124, "lost_success", null], [125, "success", null], [170, "lost_success", null], [171, "success", null], [185, "lost_success", null], [186, "success", null], [197, "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": 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": 52, + "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": [[[18, 19], "collision", [3.63, 62.37]], [20, "contact", null], [[20], "collision", [73.38]], [21, "grasped", null], [[21], "collision", [1.08]], [43, "success", null], [144, "lost_success", null], [145, "success", null], [146, "lost_success", null], [149, "success", null], [150, "lost_success", null], [154, "success", null], [190, "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": 53, + "task_plan_idx": 57, + "init_config_idx": 50, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10, 11], "collision", [285.01, 106.66, 172.93, 192.51, 462.14]], [13, "contact", null], [14, "grasped", null], [31, "success", null], [38, "lost_success", null], [[39], "collision", [232.7]], [40, "success", null], [[40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 59, 60, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 87, 88], "collision", [101.3, 115.48, 122.47, 98.24, 99.7, 85.26, 92.39, 82.01, 88.77, 87.63, 86.17, 94.03, 71.97, 64.84, 56.15, 59.09, 50.19, 19.88, 21.43, 13.03, 15.98, 17.67, 42.32, 35.38, 3.06, 13.48, 28.32, 17.69, 38.34, 32.84, 25.44, 20.17, 18.43, 38.68, 43.08, 14.18, 29.77, 24.08]]], + "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": 53, + "task_plan_idx": 75, + "init_config_idx": 65, + "spawn_selection_idx": 62, + "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", [155.18, 218.62, 163.23, 482.68, 19.85, 21.62]], [20, "contact", null], [20, "grasped", null], [40, "success", null], [47, "lost_success", null], [48, "success", null], [57, "lost_success", null], [58, "success", null], [64, "lost_success", null], [66, "success", null], [68, "lost_success", null], [79, "success", null], [82, "lost_success", null], [92, "success", null], [96, "lost_success", null], [100, "success", null], [107, "lost_success", null], [108, "success", null], [112, "lost_success", null], [114, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 54, + "task_plan_idx": 8, + "init_config_idx": 64, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 19], "collision", [942.46, 514.47, 412.57]], [24, "contact", null], [24, "grasped", null], [67, "success", null], [106, "lost_success", null], [108, "success", null], [109, "lost_success", null], [110, "success", null], [125, "lost_success", null], [130, "success", null], [135, "lost_success", null], [136, "success", null], [145, "lost_success", null], [146, "success", null], [154, "lost_success", null], [157, "success", null], [166, "lost_success", null], [168, "success", null], [180, "lost_success", null], [186, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 54, + "task_plan_idx": 104, + "init_config_idx": 121, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [16, "grasped", null], [32, "success", null], [43, "lost_success", null], [56, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 56, + "task_plan_idx": 88, + "init_config_idx": 96, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [48, "success", null], [50, "lost_success", null], [53, "success", null], [54, "lost_success", null], [67, "success", null], [86, "lost_success", null], [87, "success", null], [97, "lost_success", null], [105, "success", null], [115, "lost_success", null], [154, "success", null], [156, "lost_success", null], [161, "success", null], [165, "lost_success", null], [168, "success", null], [177, "lost_success", null], [178, "success", null], [179, "lost_success", null], [191, "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": 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": 57, + "task_plan_idx": 109, + "init_config_idx": 81, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [133.41]], [15, "contact", null], [15, "grasped", null], [[16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26], "collision", [14.38, 12.87, 12.46, 12.99, 12.8, 12.17, 9.8, 17.17, 15.0, 13.48, 13.91]], [27, "success", null], [[27, 28, 29, 30, 31, 32], "collision", [9.94, 9.55, 6.89, 7.05, 8.26, 7.75]], [33, "lost_success", null], [[33], "collision", [8.93]], [34, "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], "collision", [7.76, 8.47, 7.82, 7.57, 8.25, 6.49, 7.65, 6.63, 6.76, 7.07, 8.36, 8.52, 6.73, 6.25, 5.67, 5.64, 6.02, 5.7, 5.6, 5.48, 7.02, 7.55, 7.98, 7.52, 8.09]], [59, "lost_success", null], [[59], "collision", [7.28]], [60, "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, 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, 194, 195, 196, 197, 198, 199], "collision", [10.84, 12.36, 12.06, 12.02, 11.06, 11.7, 12.66, 12.08, 11.26, 10.88, 12.4, 12.64, 12.15, 12.13, 10.95, 11.08, 11.55, 12.45, 12.95, 11.76, 11.83, 9.94, 11.59, 12.16, 10.1, 13.86, 13.49, 13.29, 12.39, 12.46, 12.92, 12.15, 12.19, 13.17, 13.75, 13.72, 14.04, 14.11, 12.89, 12.92, 11.54, 11.34, 10.85, 13.68, 12.52, 13.83, 13.46, 12.55, 12.22, 12.64, 14.18, 12.3, 14.22, 12.46, 12.02, 12.43, 12.46, 12.5, 12.6, 12.68, 12.45, 13.25, 13.46, 14.84, 14.75, 15.54, 14.22, 14.47, 12.74, 13.28, 11.97, 13.0, 13.6, 13.11, 13.62, 12.92, 13.36, 13.09, 14.37, 15.33, 15.64, 15.65, 14.01, 15.7, 13.16, 13.75, 14.27, 13.88, 15.21, 16.65, 14.77, 13.03, 12.33, 12.28, 13.6, 13.94, 14.04, 14.2, 14.37, 14.43, 14.33, 14.47, 12.72, 12.39, 12.73, 14.4, 15.35, 13.51, 14.31, 13.42, 13.4, 13.22, 13.55, 13.84, 13.18, 14.19, 13.7, 15.75, 15.77, 14.54, 14.53, 14.44, 14.58, 15.19, 14.48, 15.06, 14.13, 14.38, 13.07, 13.84, 14.47, 13.67, 13.68, 14.56, 15.43, 16.05, 14.2, 14.67, 13.35, 13.8]]], + "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": 58, + "task_plan_idx": 12, + "init_config_idx": 33, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 8], "collision", [120.9, 4.5]], [11, "contact", null], [13, "lost_contact", null], [15, "contact", null], [16, "grasped", null], [30, "success", null], [110, "lost_success", null], [111, "success", null], [[133, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 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", [129.31, 73.58, 65.8, 100.17, 105.94, 70.32, 94.97, 44.98, 89.54, 69.19, 78.63, 44.97, 22.64, 32.02, 22.59, 34.63, 71.28, 77.61, 66.81, 74.14, 87.62, 84.88, 125.1, 105.52, 95.19, 78.49, 82.88, 136.06, 131.68, 105.41, 157.43, 110.26, 69.13, 94.3, 131.94, 163.2, 79.75]], [193, "lost_success", null], [[193, 194, 196, 197, 199], "collision", [14.22, 54.61, 27.85, 17.5, 32.28]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 59, + "task_plan_idx": 47, + "init_config_idx": 70, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6], "collision", [365.46]], [12, "contact", null], [13, "grasped", null], [[14, 15, 16, 17, 18, 19, 20], "collision", [2.87, 3.38, 14.73, 6.22, 25.93, 32.97, 36.95]], [21, "success", null], [[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, 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, 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], "collision", [22.44, 23.09, 31.04, 32.98, 32.39, 33.18, 33.07, 35.54, 35.79, 37.72, 37.75, 41.31, 40.75, 47.36, 34.45, 32.64, 43.42, 43.56, 70.24, 69.19, 56.49, 68.06, 54.05, 60.25, 53.62, 54.23, 51.15, 46.62, 46.14, 43.34, 47.21, 46.21, 40.28, 39.68, 41.02, 41.8, 40.26, 37.42, 25.82, 18.14, 12.33, 11.35, 11.46, 12.55, 12.9, 11.91, 12.02, 12.04, 12.91, 13.58, 13.92, 13.04, 15.14, 13.98, 13.29, 13.3, 13.06, 13.18, 13.99, 14.06, 13.67, 14.28, 14.0, 12.91, 15.45, 14.66, 13.7, 14.67, 13.94, 12.76, 14.37, 13.85, 13.92, 13.14, 13.08, 13.96, 13.57, 12.46, 14.67, 14.24, 13.81, 15.16, 14.83, 14.13, 13.5, 13.88, 13.03, 14.03, 13.92, 14.53, 13.25, 12.5, 13.35, 13.47, 13.36, 12.94, 13.2, 13.23, 13.83, 14.19, 14.03, 13.94, 14.46, 14.1, 13.93, 14.27, 14.46, 14.51, 13.04, 14.48, 12.25, 11.28, 12.51, 12.5, 12.43, 12.8, 11.55, 11.95, 14.0, 12.25, 12.57, 12.43, 13.43, 12.73, 11.78]], [146, "lost_success", null], [[146, 147, 148, 149, 150, 151], "collision", [11.17, 12.89, 12.07, 12.8, 11.69, 11.61]], [152, "success", null], [[152], "collision", [10.58]], [153, "lost_success", null], [[153, 154, 155, 156], "collision", [13.16, 10.26, 12.3, 12.19]], [157, "success", null], [[157], "collision", [12.7]], [158, "lost_success", null], [[158, 159, 160, 161, 162, 163, 164, 165, 166], "collision", [11.13, 12.05, 12.47, 12.03, 11.89, 11.79, 13.21, 13.4, 12.01]], [167, "success", null], [[167], "collision", [12.53]], [168, "lost_success", null], [[168, 169], "collision", [13.82, 14.51]], [170, "success", null], [[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", [14.3, 13.25, 14.76, 14.31, 14.83, 16.35, 14.83, 16.09, 14.02, 13.91, 15.07, 14.11, 14.27, 15.22, 15.22, 15.22, 15.23, 14.47, 13.34, 14.76, 13.62, 14.22, 13.8, 14.66, 12.95, 14.62, 14.47, 13.86, 14.35, 13.47]]], + "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": 59, + "task_plan_idx": 119, + "init_config_idx": 122, + "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, 9, 10], "collision", [201.79, 219.24, 158.56, 163.99, 164.26, 158.5]], [14, "contact", null], [14, "grasped", null], [[20, 21, 22, 23, 24, 25, 26], "collision", [83.26, 21.9, 17.63, 19.3, 16.17, 14.75, 15.22]], [27, "success", null], [[27], "collision", [15.46]], [28, "lost_success", null], [[28], "collision", [14.35]], [29, "success", 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, 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, 194, 195, 196, 197, 198, 199], "collision", [14.64, 16.25, 14.72, 16.26, 16.16, 15.95, 14.93, 15.33, 16.04, 16.12, 14.87, 15.47, 15.14, 14.51, 14.82, 14.85, 14.11, 13.38, 13.48, 14.99, 15.01, 14.45, 14.07, 14.2, 14.81, 15.11, 14.79, 15.67, 15.8, 14.43, 14.85, 14.41, 15.59, 14.45, 14.03, 15.61, 15.59, 15.22, 15.64, 14.37, 15.89, 15.45, 16.12, 14.82, 14.77, 14.72, 14.74, 16.21, 15.71, 15.5, 15.12, 14.9, 15.69, 15.26, 13.66, 14.63, 14.87, 14.14, 13.95, 14.39, 15.91, 15.3, 15.5, 15.31, 13.63, 16.34, 15.78, 15.14, 15.06, 14.04, 15.11, 15.39, 15.02, 15.91, 15.34, 16.0, 16.66, 15.37, 15.16, 16.09, 16.55, 15.93, 15.33, 16.7, 15.23, 15.13, 16.04, 15.63, 15.5, 14.01, 15.71, 15.47, 15.44, 16.5, 15.62, 16.45, 15.71, 15.76, 15.98, 15.73, 15.29, 15.7, 15.49, 16.26, 14.94, 15.06, 15.79, 16.38, 15.47, 15.59, 15.64, 15.95, 14.53, 14.72, 15.96, 16.25, 15.84, 15.52, 14.87, 15.1, 15.38, 14.91, 15.08, 15.79, 15.55, 15.7, 15.26, 15.45, 14.63, 14.44, 14.39, 15.49, 15.35, 14.9, 15.88, 15.88, 16.38, 15.6, 14.95, 14.74, 16.02, 15.6, 16.01, 15.0, 16.1, 15.97, 14.54, 15.21, 15.85, 15.42, 15.68, 15.98, 15.76, 16.09, 15.87, 15.36, 14.98, 15.81, 15.09, 15.34, 14.94, 15.84, 15.39, 15.28, 15.87, 15.46, 14.51, 16.08, 15.12, 14.8, 15.82]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 59, + "task_plan_idx": 4, + "init_config_idx": 73, + "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], [17, "grasped", null], [36, "success", null], [53, "lost_success", null], [54, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null], [[107, 108], "collision", [44.99, 23.17]], [131, "lost_success", null], [134, "success", null], [[180, 181, 182, 183, 184, 185, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197], "collision", [6.58, 4.22, 6.02, 18.05, 10.78, 14.03, 9.13, 12.64, 15.57, 14.31, 15.21, 14.29, 13.5, 13.69, 17.89, 11.79, 2.51]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 60, + "task_plan_idx": 87, + "init_config_idx": 86, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [[18], "collision", [226.39]], [31, "success", null], [[39, 40, 41, 42], "collision", [0.08, 2.75, 9.2, 7.02]], [43, "lost_success", null], [[43], "collision", [2.33]], [44, "success", null], [[44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61], "collision", [11.52, 25.71, 44.26, 45.87, 44.03, 52.99, 54.76, 52.74, 52.2, 51.86, 56.07, 56.35, 56.07, 57.29, 54.63, 39.01, 41.88, 39.04]], [62, "lost_success", null], [[62, 63], "collision", [40.13, 47.6]], [64, "success", null], [[64, 65, 66, 67, 68, 69], "collision", [51.89, 57.02, 63.95, 66.86, 75.42, 83.85]], [70, "lost_success", null], [[70], "collision", [96.56]], [71, "success", null], [[71, 72, 73, 74, 75], "collision", [68.78, 51.43, 38.16, 30.25, 25.17]], [76, "lost_success", null], [[76], "collision", [9.37]], [77, "success", null], [[77], "collision", [0.35]], [78, "lost_success", null], [[78, 79, 80], "collision", [2.06, 2.03, 1.26]], [81, "success", null], [[81], "collision", [1.74]], [82, "lost_success", null], [[82], "collision", [3.36]], [83, "success", null], [[83], "collision", [4.26]], [84, "lost_success", null], [[84, 85], "collision", [1.05, 1.48]], [86, "success", null], [[86, 87, 88, 89], "collision", [0.17, 1.82, 0.55, 1.49]], [90, "lost_success", null], [[90, 91, 92, 93, 94, 95], "collision", [1.37, 1.84, 2.54, 1.21, 1.61, 0.73]], [97, "success", null], [98, "lost_success", null], [100, "success", null], [103, "lost_success", null], [109, "success", null], [140, "lost_success", null], [144, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 61, + "task_plan_idx": 28, + "init_config_idx": 8, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 15, 18], "collision", [699.89, 185.52, 420.39]], [22, "contact", null], [22, "grasped", null], [[23], "collision", [507.82]], [44, "success", null], [[49, 52, 54, 55, 56, 68, 81], "collision", [221.18, 161.4, 85.8, 7.62, 51.34, 90.73, 65.25]], [107, "lost_success", null], [120, "success", null], [132, "lost_success", null], [137, "success", null], [153, "lost_success", null], [[153, 154], "collision", [107.69, 97.19]], [155, "success", null], [[155, 156, 157, 158, 159, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 179, 181, 182, 187, 188, 189, 190, 191, 193, 194, 195, 196, 197, 198, 199], "collision", [98.61, 57.16, 96.14, 77.69, 85.15, 65.52, 62.38, 26.09, 33.58, 164.83, 66.09, 36.5, 39.98, 72.4, 55.05, 70.42, 58.33, 23.97, 28.95, 31.66, 53.64, 58.03, 62.99, 19.33, 66.89, 6.83, 38.76, 3.51, 43.88, 85.85, 71.32, 60.19, 65.75, 198.36, 83.38, 72.74]]], + "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": 61, + "task_plan_idx": 34, + "init_config_idx": 98, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21, 25], "collision", [0.24, 39.78]], [27, "contact", null], [27, "grasped", null], [[43], "collision", [0.48]], [46, "success", null], [50, "lost_success", null], [51, "success", null], [[81], "collision", [158.84]]], + "articulation_type": "fridge", + "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": 62, + "task_plan_idx": 13, + "init_config_idx": 112, + "spawn_selection_idx": 47, + "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]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 32, + "init_config_idx": 128, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 11], "collision", [355.27, 298.19]], [16, "contact", null], [16, "grasped", null], [32, "success", null], [33, "lost_success", null], [34, "success", null], [[44, 45, 46, 50, 52, 56, 58, 60, 62, 64, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 80, 81, 82, 83, 84, 85, 86, 88, 89, 90, 91, 93, 94, 95, 96, 98, 99, 100, 101, 103, 106, 107, 108, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131], "collision", [8.71, 23.29, 7.82, 106.32, 46.76, 23.04, 24.29, 34.8, 30.89, 26.52, 27.56, 30.92, 22.25, 12.66, 43.17, 30.86, 51.12, 23.59, 26.99, 31.7, 28.6, 30.17, 35.96, 34.81, 9.39, 60.59, 26.06, 33.51, 33.15, 14.46, 19.81, 19.46, 14.8, 18.69, 31.91, 16.04, 17.01, 22.28, 14.11, 19.18, 22.93, 21.8, 16.94, 27.67, 14.87, 27.34, 34.74, 19.6, 0.17, 28.45, 27.65, 23.69, 46.97, 18.27, 29.01, 45.29, 29.77, 26.21, 34.71, 37.68, 43.2, 14.48, 30.96, 42.38, 26.44, 40.04, 19.86]], [134, "lost_success", null], [136, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 64, + "task_plan_idx": 160, + "init_config_idx": 52, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [[15, 16], "collision", [63.45, 98.11]], [24, "success", null], [25, "lost_success", null], [[31, 32, 33], "collision", [93.7, 57.92, 194.69]], [34, "success", null], [[34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50], "collision", [137.26, 190.97, 171.26, 118.83, 113.04, 85.65, 109.63, 89.47, 99.81, 104.45, 74.82, 63.26, 51.07, 35.3, 45.49, 52.62, 39.01]], [165, "lost_success", null], [171, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 64, + "task_plan_idx": 15, + "init_config_idx": 56, + "spawn_selection_idx": 38, + "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], [36, "lost_success", null], [41, "success", null], [50, "lost_success", null], [51, "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], "collision", [2.35, 1.19, 3.96, 8.17, 12.32, 12.65, 7.45, 11.57, 6.72, 7.25, 11.67, 14.97, 18.71, 15.01, 11.15, 10.73, 7.17, 7.33, 7.26, 6.79, 8.28, 7.42, 6.72, 3.07, 4.77]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 61, + "init_config_idx": 112, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 11], "collision", [439.04, 226.95]], [14, "contact", null], [14, "grasped", null], [[16], "collision", [0.07]], [36, "success", null], [37, "lost_success", null], [62, "success", null], [63, "lost_success", null], [71, "success", null], [74, "lost_success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [1.1, 0.23, 0.27, 0.17, 0.16, 0.13, 0.36, 0.29, 0.25, 0.34, 0.23, 0.26, 0.21, 0.24, 0.28, 0.21, 0.19, 0.23, 0.2]], [97, "success", null], [[97], "collision", [0.23]], [98, "lost_success", null], [[98], "collision", [0.28]], [99, "success", null], [[99], "collision", [0.24]], [100, "lost_success", null], [[100, 101, 102], "collision", [0.44, 0.22, 0.25]], [103, "success", null], [[103, 104], "collision", [0.24, 0.24]], [105, "lost_success", null], [[105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120], "collision", [0.21, 0.19, 0.14, 0.34, 0.28, 0.42, 0.37, 0.41, 0.28, 0.28, 0.33, 0.48, 0.44, 0.38, 0.36, 0.27]], [121, "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], "collision", [0.34, 0.2, 0.26, 0.21, 0.21, 0.25, 0.32, 0.2, 0.17, 0.29, 0.16, 0.24, 0.23, 0.3, 0.35, 0.24, 0.25, 0.21, 0.25, 0.23, 0.16, 0.24, 0.35, 0.19, 0.14, 0.18]], [147, "lost_success", null], [[147, 148, 149, 150, 151, 152, 153], "collision", [0.27, 0.26, 0.29, 0.11, 0.2, 0.3, 0.32]], [154, "success", null], [[154, 155], "collision", [0.39, 0.18]], [156, "lost_success", null], [[156], "collision", [0.33]], [157, "success", null], [[157, 158, 159, 160, 161], "collision", [0.23, 0.3, 0.38, 0.25, 0.27]], [165, "lost_success", null], [176, "success", null], [188, "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": 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": 66, + "task_plan_idx": 140, + "init_config_idx": 1, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 14, 15, 16, 17], "collision", [1145.73, 180.41, 170.7, 182.27, 170.15, 39.19]], [20, "contact", null], [21, "grasped", null], [40, "success", null], [42, "lost_success", null], [44, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [60, "success", null], [63, "lost_success", null], [69, "success", null], [74, "lost_success", null], [75, "success", null], [78, "lost_success", null], [82, "success", null], [83, "lost_success", null], [84, "success", null], [85, "lost_success", null], [86, "success", null], [87, "lost_success", null], [[87], "collision", [431.35]], [88, "success", null], [90, "lost_success", null], [[90], "collision", [76.8]], [91, "success", null], [95, "lost_success", null], [101, "success", null], [104, "lost_success", null], [113, "success", null], [[119, 121, 122, 123, 124, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 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, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 183, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [11.35, 14.18, 15.62, 13.08, 11.78, 23.18, 17.71, 15.47, 13.61, 18.34, 7.66, 14.55, 21.19, 25.69, 18.43, 26.49, 25.95, 30.51, 16.43, 3.3, 17.96, 7.88, 13.19, 13.94, 22.8, 25.35, 27.82, 28.89, 34.81, 26.19, 25.35, 22.66, 23.67, 22.41, 19.79, 27.7, 26.98, 20.47, 14.08, 16.24, 26.68, 26.55, 28.27, 25.19, 25.71, 22.79, 24.88, 32.55, 34.04, 30.43, 24.42, 21.85, 31.82, 31.2, 16.62, 12.2, 21.85, 16.46, 10.1, 6.44, 3.9, 10.46, 9.58, 20.08, 29.09, 21.16, 31.54, 31.72, 30.89, 35.76, 31.33, 30.86, 28.39, 20.22, 11.99, 12.48]]], + "articulation_type": "fridge", + "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": 66, + "task_plan_idx": 0, + "init_config_idx": 8, + "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], [16, "grasped", null], [31, "success", null], [34, "lost_success", null], [46, "success", null], [47, "lost_success", null], [52, "success", null], [99, "lost_success", null], [101, "success", null], [127, "lost_success", null], [141, "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": 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": 67, + "task_plan_idx": 134, + "init_config_idx": 62, + "spawn_selection_idx": 12, + "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, 25, 27, 28, 29], "collision", [205.62, 129.96, 238.36, 135.54, 367.57, 201.21, 133.55, 780.87, 513.99, 308.7, 314.45]], [30, "contact", null], [31, "grasped", null], [64, "success", null], [66, "lost_success", null], [69, "success", null], [87, "lost_success", null], [88, "success", null], [95, "lost_success", null], [97, "success", null], [111, "lost_success", null], [112, "success", null], [[148, 152, 154, 155, 156, 158, 159, 160], "collision", [297.96, 43.85, 0.08, 12.33, 12.75, 18.63, 3.39, 5.57]], [167, "lost_success", null], [175, "success", null], [191, "lost_success", null], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 68, + "task_plan_idx": 10, + "init_config_idx": 143, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[34, 35, 36, 37, 38, 39, 40, 41], "collision", [34.62, 30.4, 11.42, 45.04, 55.8, 53.08, 124.61, 82.97]], [42, "success", null], [[42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 59, 60, 61, 62, 65, 66, 68, 69, 71, 72, 73, 74, 75, 76, 77, 78, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 101, 102, 103, 105, 106, 107, 108, 109, 110, 111, 113, 114, 115, 116, 117, 118, 119, 120], "collision", [99.32, 93.38, 80.48, 79.77, 2.47, 6.26, 13.43, 14.11, 9.94, 11.09, 0.52, 0.51, 0.61, 2.24, 0.83, 1.97, 0.49, 1.94, 0.76, 1.34, 1.0, 1.76, 1.07, 0.35, 1.95, 2.52, 1.05, 2.68, 0.44, 2.63, 1.45, 0.56, 1.84, 0.92, 0.39, 0.75, 0.89, 2.68, 1.25, 0.57, 0.99, 0.91, 1.29, 0.74, 0.74, 0.54, 2.41, 1.0, 0.66, 1.48, 0.84, 0.66, 0.98, 0.68, 0.83, 0.61, 0.56, 48.79, 29.0, 30.81, 33.55, 33.27, 1.0, 1.97, 0.93]], [121, "lost_success", null], [[121, 122, 123, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [0.28, 0.61, 0.11, 1.16, 1.14, 1.32, 0.31, 0.03, 1.31, 1.09, 0.42, 0.71, 0.53, 0.48, 1.91, 0.39]], [138, "success", null], [[138, 139, 140, 142, 143, 144, 145], "collision", [0.35, 0.2, 1.72, 0.57, 39.36, 24.11, 26.12]], [146, "lost_success", null], [[146, 147, 148, 149], "collision", [34.95, 44.11, 44.73, 41.83]], [150, "success", null], [[150], "collision", [76.29]], [151, "lost_success", null], [[151], "collision", [53.44]], [152, "success", null], [[152, 153, 154], "collision", [39.7, 26.83, 14.61]], [155, "lost_success", null], [[155, 156, 157, 158, 159, 160, 161, 162], "collision", [49.43, 0.85, 0.14, 1.79, 0.61, 1.97, 13.69, 14.72]], [163, "success", null], [[163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [17.11, 16.54, 16.0, 13.67, 14.85, 15.88, 15.27, 14.41, 13.24, 12.78, 14.2, 12.97]], [175, "lost_success", null], [[175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186], "collision", [12.66, 14.33, 12.36, 13.03, 13.26, 12.15, 11.82, 12.24, 13.38, 13.5, 11.51, 12.31]], [187, "success", null], [[187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [12.95, 12.54, 11.93, 12.24, 12.05, 12.52, 12.22, 11.7, 11.48, 11.78, 12.13, 11.82, 11.95]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 6, + "task_plan_idx": 19, + "init_config_idx": 77, + "spawn_selection_idx": 12, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16], "collision", [119.55, 54.69]], [20, "contact", null], [20, "grasped", null], [[20], "collision", [734.98]], [39, "success", null], [40, "lost_success", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [[45], "collision", [0.33]], [46, "lost_success", null], [[46, 47], "collision", [0.13, 0.09]], [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], "collision", [0.1, 0.09, 0.09, 0.09, 113.6, 39.68, 33.98, 14.45, 0.09, 24.05, 10.27, 0.09, 0.09, 0.1, 0.09, 0.09, 0.08, 0.1, 0.09, 0.09, 0.09, 0.07, 0.11, 0.1, 0.12, 0.09, 0.11, 0.1, 0.09, 0.1, 0.11, 0.11, 0.09, 0.09, 0.07, 0.09, 0.1, 0.06, 0.09, 0.1, 0.09, 0.09, 0.09, 0.11, 0.09, 0.09, 0.1, 0.09, 0.1, 0.09, 0.08, 0.1, 0.09, 0.08, 0.1, 0.09, 0.05, 0.1, 0.1, 0.08, 0.1, 0.11, 0.1, 0.1, 0.1, 0.09, 0.08, 0.1, 0.08, 0.1, 0.11, 0.1, 0.09, 0.11, 0.1, 0.09, 0.09, 0.1, 0.09, 0.09, 0.11, 0.08, 0.1, 0.09, 0.1, 0.09, 0.08, 0.1, 0.08, 0.1, 0.09, 0.1, 0.1, 0.1, 0.09, 0.09, 0.1, 0.11, 0.09, 0.07, 0.09, 0.09, 0.12, 0.09, 0.1, 0.09, 0.09, 0.09, 0.12, 0.09, 0.1, 0.09]], [160, "lost_success", null], [[160], "collision", [0.1]], [161, "success", null], [[161], "collision", [0.08]], [162, "lost_success", null], [[162, 163, 164, 165, 166], "collision", [0.09, 0.09, 0.1, 0.09, 0.09]], [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", [0.1, 0.09, 0.08, 0.1, 0.07, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.1, 0.09, 0.09, 0.11, 0.09, 0.1, 0.07, 0.09, 0.09, 0.09, 0.1, 0.08, 0.1, 0.09, 0.1, 0.08, 0.09, 0.09, 0.09, 0.11, 0.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 6, + "task_plan_idx": 62, + "init_config_idx": 121, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[41, 42, 43, 44], "collision", [0.07, 0.09, 0.09, 0.09]], [45, "success", null], [[45, 46, 47], "collision", [0.09, 0.09, 0.1]], [48, "lost_success", null], [[48], "collision", [0.09]], [49, "success", null], [[49, 50], "collision", [0.09, 0.09]], [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], "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]], [79, "success", null], [[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", [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]], [105, "lost_success", null], [[105], "collision", [0.09]], [106, "success", null], [[106, 107, 108, 109, 110], "collision", [0.09, 0.09, 0.09, 0.09, 0.09]], [111, "lost_success", null], [[111, 112], "collision", [0.09, 0.09]], [113, "success", null], [[113], "collision", [0.09]], [114, "lost_success", null], [[114], "collision", [0.09]], [115, "success", null], [[115, 116, 117, 118], "collision", [0.09, 0.09, 0.09, 0.09]], [119, "lost_success", null], [[119, 120, 121], "collision", [0.09, 0.09, 0.09]], [122, "success", null], [[122], "collision", [0.09]], [123, "lost_success", null], [[123, 124, 125, 126, 127, 128, 129], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [130, "success", null], [[130], "collision", [0.09]], [131, "lost_success", null], [[131], "collision", [0.09]], [132, "success", null], [[132, 133, 134, 135], "collision", [0.09, 0.09, 0.09, 0.09]], [136, "lost_success", null], [[136, 137], "collision", [0.09, 0.09]], [138, "success", null], [[138, 139], "collision", [0.09, 0.09]], [140, "lost_success", null], [[140], "collision", [0.09]], [141, "success", null], [[141, 142, 143, 144], "collision", [0.09, 0.09, 0.09, 0.09]], [145, "lost_success", null], [[145, 146], "collision", [0.09, 0.09]], [147, "success", null], [[147, 148, 149, 150, 151, 152, 153], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [154, "lost_success", null], [[154, 155, 156, 157, 158, 159], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [160, "success", null], [[160], "collision", [0.09]], [161, "lost_success", null], [[161, 162, 163, 164, 165, 166], "collision", [0.09, 0.09, 0.09, 0.09, 0.09, 0.09]], [167, "success", null], [[167], "collision", [0.09]], [168, "lost_success", null], [[168, 169, 170, 171, 172], "collision", [0.09, 0.09, 0.09, 0.09, 0.09]], [173, "success", null], [[173], "collision", [0.09]], [174, "lost_success", null], [[174, 175], "collision", [0.09, 0.09]], [176, "success", null], [[176], "collision", [0.09]], [177, "lost_success", null], [[177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191], "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]], [192, "success", null], [[192], "collision", [0.09]], [193, "lost_success", null], [[193], "collision", [0.09]], [194, "success", null], [[194, 195, 196, 197], "collision", [0.09, 0.09, 0.09, 0.09]], [198, "lost_success", null], [[198, 199], "collision", [0.09, 0.09]]], + "articulation_type": "fridge", + "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": 7, + "task_plan_idx": 106, + "init_config_idx": 68, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [758.01]], [16, "contact", null], [16, "grasped", null], [32, "success", null], [36, "lost_success", null], [42, "success", null], [43, "lost_success", null], [44, "success", null], [50, "lost_success", null], [51, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85], "collision", [8.35, 37.43, 10.79, 70.17, 30.19, 115.87, 32.33, 47.87, 48.12, 51.28, 67.79, 83.13, 72.6, 70.95, 63.17, 62.14, 70.7, 60.56, 42.86, 22.52, 34.51, 13.99]], [96, "lost_success", null], [99, "success", null], [102, "lost_success", null], [103, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [108, "success", null], [[109, 112, 113, 115, 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, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 170, 171, 175, 177, 183, 186, 187, 188, 189, 190, 191], "collision", [5.71, 9.01, 14.52, 13.45, 16.64, 4.08, 6.61, 33.51, 18.61, 16.82, 11.22, 17.27, 6.05, 18.27, 6.07, 8.69, 16.74, 38.05, 26.9, 30.54, 32.74, 47.93, 21.79, 26.34, 28.25, 21.43, 25.59, 27.89, 11.64, 24.09, 17.13, 37.71, 41.43, 13.98, 22.23, 24.96, 52.23, 23.51, 32.19, 24.44, 27.63, 32.68, 34.02, 17.04, 12.98, 40.84, 42.44, 26.88, 11.5, 21.35, 28.24, 17.97, 1.57, 1.23, 13.09, 16.76, 5.08, 19.64, 45.05, 39.98, 73.6, 94.92, 227.31]], [192, "lost_success", null], [[192, 193, 194], "collision", [121.37, 89.06, 70.03]], [195, "success", null], [[195], "collision", [336.12]], [196, "lost_success", null], [197, "success", null], [[197, 198, 199], "collision", [296.49, 68.74, 61.86]]], + "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": 7, + "task_plan_idx": 69, + "init_config_idx": 141, + "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], [53, "success", null], [56, "lost_success", null], [60, "success", null], [75, "lost_success", null], [76, "success", null], [77, "lost_success", null], [83, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 8, + "task_plan_idx": 148, + "init_config_idx": 25, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 19, 20, 26], "collision", [724.29, 295.85, 121.02, 369.16]], [29, "contact", null], [[29, 30, 31], "collision", [685.67, 1207.99, 623.17]], [32, "grasped", null], [[32, 39], "collision", [23.75, 318.52]], [174, "success", null], [175, "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": 8, + "task_plan_idx": 68, + "init_config_idx": 101, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 17], "collision", [141.68, 163.0, 146.6]], [18, "contact", null], [[18], "collision", [11.69]], [19, "grasped", null], [47, "success", null], [49, "lost_success", null], [50, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [78, "success", null], [118, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 9, + "task_plan_idx": 124, + "init_config_idx": 36, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6, 7, 8, 9, 10], "collision", [189.0, 158.11, 26.46, 163.98, 177.62, 89.47, 47.87, 160.01]], [12, "contact", null], [12, "grasped", null], [29, "success", null], [31, "lost_success", null], [38, "success", null], [59, "lost_success", null], [72, "success", null], [74, "lost_success", null], [77, "success", null], [86, "lost_success", null], [87, "success", null], [88, "lost_success", null], [89, "success", null], [92, "lost_success", null], [96, "success", null], [110, "lost_success", null], [111, "success", null], [113, "lost_success", null], [134, "success", null], [145, "lost_success", null], [149, "success", null], [153, "lost_success", null], [161, "success", null], [171, "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": 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": 9, + "task_plan_idx": 159, + "init_config_idx": 94, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 10, 11, 12, 13, 14], "collision", [108.27, 42.8, 1680.61, 390.21, 252.49, 194.11]], [18, "contact", null], [19, "grasped", null], [46, "success", null], [47, "lost_success", null], [50, "success", null], [95, "lost_success", null], [97, "success", null], [98, "lost_success", null], [99, "success", null], [102, "lost_success", null], [105, "success", null], [111, "lost_success", null], [112, "success", null], [114, "lost_success", null], [115, "success", null], [164, "lost_success", null], [165, "success", null], [166, "lost_success", null], [167, "success", null], [168, "lost_success", null], [169, "success", null], [171, "lost_success", null], [172, "success", null], [175, "lost_success", null], [189, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 9, + "task_plan_idx": 148, + "init_config_idx": 52, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[24], "collision", [35.56]], [43, "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, 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, 164, 165, 166, 167], "collision", [49.93, 56.2, 59.99, 62.14, 58.75, 71.88, 64.22, 70.16, 49.62, 56.97, 55.76, 60.91, 60.07, 65.77, 62.9, 62.58, 35.56, 30.42, 29.87, 30.14, 18.58, 33.37, 34.17, 27.5, 28.84, 34.13, 36.9, 29.4, 27.6, 27.89, 62.61, 57.4, 35.86, 36.25, 36.37, 32.37, 23.42, 25.89, 25.88, 34.77, 42.85, 44.86, 51.07, 38.06, 46.9, 24.92, 31.08, 23.07, 17.38, 23.55, 50.06, 35.12, 25.13, 25.16, 28.84, 22.29, 29.75, 25.39, 28.18, 28.74, 27.89, 22.55, 24.06, 21.82, 42.12, 65.02, 23.2, 46.36, 16.41, 20.49, 24.74, 4.2, 3.29, 13.31]], [168, "lost_success", null], [169, "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": 10, + "task_plan_idx": 67, + "init_config_idx": 1, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [349.65]], [16, "contact", null], [16, "grasped", null], [44, "success", null], [68, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [[85, 86, 87, 88], "collision", [18.89, 34.32, 99.67, 46.37]], [89, "lost_success", null], [[89], "collision", [49.89]], [90, "success", null], [[90], "collision", [20.68]], [91, "lost_success", null], [[91], "collision", [8.39]], [96, "success", null], [129, "lost_success", null], [130, "success", null], [[134, 135, 136, 137, 138, 139, 140, 149, 150, 151, 155, 156, 157], "collision", [63.55, 62.67, 34.27, 24.88, 43.48, 42.46, 21.01, 15.65, 1.39, 52.02, 8.86, 42.47, 31.51]]], + "articulation_type": "fridge", + "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": 11, + "task_plan_idx": 21, + "init_config_idx": 82, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [23, "grasped", null], [45, "success", null], [[129, 130, 131, 132, 133, 134, 135, 137, 138, 139, 141, 146, 148, 150, 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", [17.49, 18.23, 17.72, 10.78, 14.71, 10.28, 10.81, 14.32, 17.86, 5.64, 0.53, 10.13, 2.99, 17.91, 19.22, 18.81, 15.98, 8.75, 18.47, 18.87, 18.39, 14.13, 19.17, 18.66, 18.99, 19.0, 19.71, 22.61, 18.69, 22.41, 22.49, 22.41, 21.94, 19.33, 22.34, 18.88, 18.78, 18.59, 18.58, 18.83, 18.89, 19.08, 22.29, 22.71, 22.7, 22.57, 22.55, 22.52, 15.94, 22.78, 22.96, 23.04, 22.55, 22.17, 23.22, 23.0, 22.11, 22.34, 23.23, 22.93, 22.56, 22.29]]], + "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": 11, + "task_plan_idx": 153, + "init_config_idx": 40, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 9], "collision", [269.58, 227.39, 180.61, 13.46]], [15, "contact", null], [15, "grasped", null], [30, "success", null], [[33], "collision", [13.64]], [50, "lost_success", null], [57, "success", null], [89, "lost_success", null], [90, "success", null], [95, "lost_success", null], [96, "success", null], [[111, 112, 113, 114, 115, 118, 119, 120, 121, 122, 123, 124, 125, 126], "collision", [9.62, 6.93, 14.55, 13.59, 9.63, 18.49, 5.18, 12.3, 15.35, 9.94, 10.42, 10.06, 1.43, 4.18]]], + "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": 11, + "task_plan_idx": 111, + "init_config_idx": 106, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25], "collision", [110.22, 99.41, 153.78, 146.63, 150.04, 120.96, 155.14, 141.5, 262.09, 163.22, 185.01]], [26, "contact", null], [[26, 27], "collision", [1869.8, 224.19]], [30, "grasped", null], [[30, 38], "collision", [122.38, 315.84]], [56, "success", null], [113, "lost_success", null], [116, "success", null]], + "articulation_type": "fridge", + "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": 12, + "task_plan_idx": 99, + "init_config_idx": 117, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [37, "success", null], [52, "lost_success", null], [71, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 13, + "task_plan_idx": 73, + "init_config_idx": 118, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[32, 33, 34, 35], "collision", [50.84, 101.94, 53.39, 13.52]], [36, "success", null], [[36, 37, 38, 39, 40, 41, 42], "collision", [14.08, 13.79, 20.84, 20.95, 14.69, 15.54, 17.5]], [43, "lost_success", null], [[43], "collision", [17.7]], [44, "success", null], [[44], "collision", [19.74]], [45, "lost_success", null], [[45, 46, 47, 48, 49, 50, 51, 52], "collision", [19.85, 15.84, 20.22, 16.46, 18.02, 22.27, 21.4, 21.12]], [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], "collision", [18.45, 20.16, 21.13, 13.64, 16.87, 17.57, 14.43, 19.15, 21.24, 16.55, 16.24, 19.85, 21.39, 17.14, 19.51, 18.06, 20.89, 19.11, 19.17, 21.6, 20.76, 21.63, 23.67, 24.14, 21.82, 20.67]], [79, "lost_success", null], [[79], "collision", [21.91]], [80, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87], "collision", [21.18, 21.34, 22.86, 20.31, 22.75, 16.32, 18.61, 17.23]], [88, "lost_success", null], [[88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [19.36, 18.83, 17.96, 18.73, 19.5, 20.6, 19.11, 18.32, 19.89, 20.3, 20.62, 20.01]], [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, 122, 123, 124, 125, 126], "collision", [14.6, 15.04, 16.04, 15.55, 15.42, 16.63, 16.5, 16.48, 16.89, 19.05, 21.12, 22.19, 24.65, 22.05, 23.05, 23.22, 22.86, 23.76, 22.73, 22.32, 23.91, 24.66, 22.6, 22.22, 23.82, 24.21, 13.5]], [130, "lost_success", null], [[130], "collision", [2.87]], [131, "success", null], [132, "lost_success", null], [[132], "collision", [1.0]], [133, "success", null], [134, "lost_success", null], [135, "success", null], [137, "lost_success", null], [143, "success", null], [159, "lost_success", null], [165, "success", null], [180, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 14, + "task_plan_idx": 115, + "init_config_idx": 88, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8], "collision", [264.25, 117.84]], [11, "contact", null], [11, "grasped", null], [38, "success", null], [46, "lost_success", null], [47, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 16, + "init_config_idx": 87, + "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], [[41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [44.65, 45.44, 34.12, 42.55, 36.45, 37.71, 44.37, 43.56, 30.05, 22.79, 16.12]], [57, "success", null], [66, "lost_success", null], [[69, 70, 71, 72, 73, 74, 75], "collision", [5.23, 4.24, 25.38, 16.04, 11.51, 5.84, 20.43]], [76, "success", null], [[76], "collision", [6.95]], [77, "lost_success", null], [[77, 78, 79], "collision", [5.08, 15.78, 24.03]], [80, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92], "collision", [30.43, 16.59, 11.6, 18.92, 5.81, 16.11, 6.65, 7.01, 6.13, 5.92, 5.66, 5.56, 5.64]], [93, "lost_success", null], [[93, 94, 95, 96, 97], "collision", [6.55, 5.63, 6.68, 5.87, 6.1]], [98, "success", null], [[98, 99], "collision", [5.13, 5.8]], [100, "lost_success", null], [[100], "collision", [5.35]], [101, "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, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148], "collision", [5.57, 5.85, 6.38, 6.03, 6.0, 6.6, 6.71, 6.91, 6.0, 7.01, 6.39, 6.09, 6.34, 6.28, 6.17, 6.32, 6.07, 6.73, 6.44, 5.49, 7.02, 6.2, 6.0, 12.19, 12.31, 10.77, 11.85, 11.61, 12.48, 13.33, 10.64, 12.75, 11.92, 12.26, 13.23, 12.75, 12.13, 12.68, 12.45, 13.89, 14.32, 12.53, 13.37, 11.36, 10.85, 12.39, 13.48, 13.19]], [149, "lost_success", null], [[149], "collision", [10.65]], [150, "success", null], [[150, 151], "collision", [10.48, 11.86]], [152, "lost_success", null], [[152, 153, 154], "collision", [10.53, 11.53, 12.02]], [155, "success", null], [[155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176], "collision", [12.16, 10.93, 11.07, 11.32, 10.56, 12.77, 12.02, 11.56, 11.71, 11.69, 12.97, 11.54, 12.72, 11.59, 10.88, 12.01, 11.34, 11.11, 10.12, 11.79, 11.83, 13.49]], [177, "lost_success", null], [[177], "collision", [12.68]], [178, "success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187], "collision", [12.35, 11.67, 11.77, 11.29, 11.79, 12.86, 13.68, 12.42, 12.55, 12.3]], [188, "lost_success", null], [[188, 189, 190, 191, 192, 193], "collision", [12.04, 12.25, 13.34, 13.01, 13.13, 12.45]], [194, "success", null], [[194, 195, 196, 197, 198, 199], "collision", [12.88, 12.76, 11.95, 12.16, 12.37, 12.83]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 81, + "init_config_idx": 8, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [26.71]], [21, "contact", null], [21, "grasped", null], [[23], "collision", [0.8]], [42, "success", null], [50, "lost_success", null], [51, "success", null], [62, "lost_success", null], [63, "success", null], [81, "lost_success", null], [82, "success", null], [97, "lost_success", null], [98, "success", null], [110, "lost_success", null], [111, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 16, + "task_plan_idx": 127, + "init_config_idx": 38, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[29, 30, 32, 33, 34, 35, 36], "collision", [67.87, 45.78, 686.98, 580.09, 578.72, 557.05, 489.62]], [37, "contact", null], [[37, 38], "collision", [511.57, 470.68]], [39, "grasped", null], [[39, 44, 45], "collision", [530.83, 80.87, 24.99]], [194, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "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": 16, + "task_plan_idx": 42, + "init_config_idx": 55, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 17], "collision", [1101.31, 1730.05]], [20, "contact", null], [20, "grasped", null], [34, "success", null], [44, "lost_success", null], [48, "success", null], [86, "lost_success", null], [88, "success", null], [90, "lost_success", null], [106, "success", null], [107, "lost_success", null], [124, "success", null], [127, "lost_success", null], [130, "success", null], [131, "lost_success", null], [133, "success", null], [134, "lost_success", null], [145, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 16, + "task_plan_idx": 132, + "init_config_idx": 94, + "spawn_selection_idx": 83, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [[32, 33, 34, 35, 36, 37], "collision", [28.4, 23.79, 16.07, 31.73, 23.99, 1.0]], [38, "success", null], [[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], "collision", [1.06, 0.71, 0.31, 1.2, 0.33, 0.3, 1.61, 0.26, 1.52, 0.91, 1.86, 0.79, 0.29, 0.93, 0.17, 0.4, 0.46, 0.23, 0.44, 0.35, 0.21, 0.27, 0.58, 1.36, 0.37]], [64, "lost_success", null], [68, "success", null], [[79, 101, 108], "collision", [0.04, 0.01, 0.09]], [139, "lost_success", null], [146, "success", null], [[191, 192, 193, 194, 196, 198, 199], "collision", [26.78, 28.93, 27.08, 27.28, 25.51, 22.08, 15.17]]], + "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": 17, + "task_plan_idx": 85, + "init_config_idx": 61, + "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, 12, 13, 14], "collision", [786.86, 181.98, 492.25, 429.8, 488.91, 518.96, 491.83]], [15, "contact", null], [[15], "collision", [478.15]], [16, "grasped", null], [[18], "collision", [40.1]], [54, "success", null], [57, "lost_success", null], [76, "success", null], [78, "lost_success", null], [80, "success", null], [86, "lost_success", null], [87, "success", null], [88, "lost_success", null], [91, "success", null], [92, "lost_success", null], [93, "success", null], [94, "lost_success", null], [95, "success", null], [102, "lost_success", null], [103, "success", null], [135, "lost_success", null], [136, "success", null], [146, "lost_success", null], [147, "success", null], [150, "lost_success", null], [152, "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": 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": 17, + "task_plan_idx": 90, + "init_config_idx": 100, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [1.04]], [17, "contact", null], [18, "grasped", null], [37, "success", null], [54, "lost_success", null], [56, "success", null], [83, "lost_success", null], [84, "success", null], [90, "lost_success", null], [92, "success", null], [93, "lost_success", null], [94, "success", null], [104, "lost_success", null], [105, "success", null], [106, "lost_success", null], [107, "success", null], [108, "lost_success", null], [109, "success", null], [124, "lost_success", null], [125, "success", null], [167, "lost_success", null], [169, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 17, + "task_plan_idx": 111, + "init_config_idx": 31, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [321.23]], [17, "contact", null], [17, "grasped", null], [[17, 18, 23, 24, 25, 26, 29, 30, 31, 37, 38, 39, 40, 41, 42], "collision", [23.74, 14.77, 412.99, 215.33, 273.41, 262.32, 119.5, 81.75, 68.59, 25.34, 21.28, 18.39, 27.37, 10.59, 19.64]], [43, "success", null], [[43], "collision", [28.65]], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 77], "collision", [53.85, 51.02, 47.85, 54.81, 57.01, 51.63, 45.37, 27.26, 45.84, 19.76, 18.0, 10.74, 24.53, 28.27]], [83, "lost_success", null], [84, "success", null], [[97, 100, 101, 102, 103, 104, 105, 106, 108, 109, 110, 111, 112, 113, 114, 115, 116, 118, 122, 123], "collision", [19.38, 21.91, 24.59, 35.34, 28.07, 39.61, 32.58, 54.76, 22.96, 24.02, 46.19, 24.95, 26.5, 45.2, 34.75, 34.82, 35.66, 123.31, 29.88, 28.06]], [134, "lost_success", null], [147, "success", null], [159, "lost_success", null], [160, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [185, "success", null], [188, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "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": 18, + "task_plan_idx": 79, + "init_config_idx": 56, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [45.74]], [21, "contact", null], [21, "grasped", null], [[35, 36, 37, 38, 39, 40, 41, 42], "collision", [103.62, 30.04, 41.29, 66.23, 77.9, 97.58, 115.68, 112.87]], [43, "success", null], [[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", [106.7, 104.04, 106.37, 113.14, 98.38, 92.44, 92.07, 94.59, 100.4, 70.15, 67.85, 62.01, 63.74, 57.96, 56.28, 55.9, 53.78, 52.56, 51.06, 53.82, 54.54, 63.32, 78.2, 86.49, 98.13]], [68, "lost_success", null], [[68], "collision", [95.48]], [69, "success", null], [[69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 89, 90, 91, 93, 94, 95, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 122, 123, 124, 126, 127, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 147, 148, 149, 150, 151, 152, 162, 163, 166, 196], "collision", [90.8, 83.88, 79.01, 75.91, 75.34, 75.77, 65.46, 59.73, 56.0, 57.36, 55.33, 55.69, 62.2, 22.6, 5.77, 2.19, 1.54, 2.55, 4.95, 8.43, 0.0, 4.05, 0.08, 0.18, 9.16, 12.32, 14.9, 19.27, 25.1, 26.54, 29.38, 20.86, 10.16, 9.09, 2.49, 0.26, 0.07, 0.21, 0.37, 1.46, 4.43, 0.28, 0.03, 11.14, 30.62, 28.57, 27.95, 22.54, 13.63, 15.63, 14.97, 11.3, 6.82, 1.9, 0.4, 0.53, 4.42, 8.8, 12.78, 13.93, 4.03, 2.38, 3.05, 0.03, 0.7]]], + "articulation_type": "fridge", + "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": 19, + "task_plan_idx": 50, + "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": [[[7], "collision", [82.34]], [13, "contact", null], [14, "grasped", null], [24, "success", null], [[43, 44, 45, 46, 47, 48, 49, 65, 66, 67, 68], "collision", [10.7, 12.57, 14.18, 20.31, 12.09, 8.33, 0.14, 0.18, 1.26, 2.24, 0.42]], [151, "lost_success", null], [153, "success", null], [173, "lost_success", null], [186, "success", null], [188, "lost_success", null], [190, "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": 20, + "task_plan_idx": 51, + "init_config_idx": 14, + "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], [[23], "collision", [380.48]], [42, "success", null], [[59], "collision", [11.36]], [60, "lost_success", null], [[60, 62], "collision", [41.41, 7.87]], [69, "success", null], [70, "lost_success", null], [71, "success", null], [84, "lost_success", null], [87, "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, 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], "collision", [12.51, 12.85, 12.94, 12.98, 12.97, 13.1, 12.98, 12.83, 12.58, 12.48, 12.72, 12.74, 12.62, 12.81, 12.72, 12.76, 12.9, 12.78, 12.69, 12.78, 12.6, 12.6, 12.6, 12.55, 12.64, 12.64, 12.6, 12.69, 12.66, 12.65, 12.59, 12.65, 12.53, 12.61, 12.59, 12.67, 12.61, 12.61, 12.54, 12.45, 12.54, 12.42, 12.47, 12.59, 12.57, 12.69, 12.64, 12.65, 12.73, 12.69, 12.83, 12.9, 12.83, 12.69, 12.66, 12.93, 12.65, 12.79, 12.76, 12.76, 12.76, 12.63, 12.78, 12.61, 12.82, 12.6, 12.67, 12.71, 12.69, 12.82, 12.71, 12.7, 12.65, 12.61, 12.77, 12.75, 12.63, 12.69, 12.51, 12.63, 12.55, 12.76, 11.91, 12.75, 12.82, 12.75, 12.83, 12.81, 12.99, 12.92, 12.92, 12.93, 12.83, 12.85, 12.92, 12.91, 13.05, 13.12, 12.96, 13.03, 12.95, 12.84, 12.86, 12.71, 12.8, 12.67, 12.69]], [196, "lost_success", null], [[196, 197, 198, 199], "collision", [12.84, 12.69, 12.62, 12.13]]], + "articulation_type": "fridge", + "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": 20, + "task_plan_idx": 138, + "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": [[[5, 6, 7, 8], "collision", [837.14, 76.25, 27.48, 228.82]], [14, "contact", null], [14, "grasped", null], [27, "success", null], [75, "lost_success", null], [78, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 6, + "init_config_idx": 147, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [16.73]], [21, "contact", null], [21, "grasped", null], [41, "success", null], [117, "lost_success", null], [118, "success", null], [120, "lost_success", null], [121, "success", null], [177, "lost_success", null], [178, "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": 21, + "task_plan_idx": 142, + "init_config_idx": 30, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[1, 2, 3, 4, 5, 6, 21, 23], "collision", [537.54, 168.69, 165.16, 176.32, 168.14, 168.82, 175.42, 8.02]], [24, "contact", null], [24, "grasped", null], [51, "success", null], [[69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [54.15, 70.97, 77.37, 97.29, 92.22, 100.34, 89.15, 93.44, 83.64, 96.56, 93.09, 82.26, 99.92, 103.61, 103.57, 103.86, 93.66, 100.14, 90.54, 62.72, 41.42, 30.82, 16.57]], [92, "lost_success", null], [93, "success", null], [98, "lost_success", null], [99, "success", null], [108, "lost_success", null], [109, "success", null], [110, "lost_success", null], [111, "success", null], [131, "lost_success", null], [132, "success", null], [151, "lost_success", null], [155, "success", null], [156, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null], [172, "lost_success", null], [174, "success", null], [175, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 74, + "init_config_idx": 53, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [284.5, 161.82, 142.89]], [14, "contact", null], [14, "grasped", null], [[16], "collision", [0.06]], [25, "success", null], [36, "lost_success", null], [38, "success", null], [44, "lost_success", null], [45, "success", null], [79, "lost_success", null], [81, "success", null], [82, "lost_success", null], [84, "success", null], [109, "lost_success", null], [112, "success", null], [129, "lost_success", null], [130, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 22, + "task_plan_idx": 147, + "init_config_idx": 130, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 12], "collision", [259.36, 226.31, 2.06]], [14, "contact", null], [15, "grasped", null], [[15, 26, 27, 28, 29], "collision", [1.64, 72.09, 37.6, 62.49, 48.96]], [30, "success", null], [[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, 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], "collision", [86.96, 43.2, 185.33, 42.35, 32.82, 33.55, 32.59, 36.69, 36.9, 42.64, 38.97, 29.95, 29.36, 26.13, 28.66, 27.61, 29.39, 30.12, 29.52, 26.34, 29.48, 27.75, 31.93, 29.43, 30.13, 29.44, 30.42, 32.37, 30.63, 26.91, 27.47, 25.91, 28.09, 27.89, 24.47, 24.68, 29.85, 28.32, 28.73, 33.52, 32.25, 33.8, 29.85, 29.53, 34.43, 34.21, 31.73, 30.59, 27.42, 27.66, 23.22, 23.93, 29.77, 27.64, 29.83, 28.93, 27.76, 26.9, 27.55, 28.1, 28.07, 29.47, 29.36, 29.64, 30.45, 32.24, 38.11, 38.4, 43.96, 30.89, 35.77, 26.61, 23.95, 16.55, 16.66, 20.28, 22.18, 13.17, 17.78, 19.81, 30.07, 29.83, 33.72, 32.6, 34.94, 36.09, 34.64, 32.58, 32.7, 37.33, 41.33, 38.38, 37.95, 46.45, 35.74, 41.74, 48.22, 43.76, 31.57, 32.95, 26.43, 33.02, 39.44, 27.47, 30.98, 3.57, 3.45, 3.89, 5.58, 5.73, 5.86, 5.55, 6.08, 4.32, 2.98]], [146, "lost_success", null], [156, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 22, + "task_plan_idx": 96, + "init_config_idx": 91, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [9.56]], [15, "contact", null], [15, "grasped", null], [47, "success", null], [142, "lost_success", null], [145, "success", null]], + "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": 24, + "task_plan_idx": 136, + "init_config_idx": 137, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38], "collision", [11.78, 25.63, 27.26, 43.1, 24.11, 23.95, 21.87, 15.68, 14.9, 16.07, 12.6, 10.38, 11.94, 15.49, 26.65, 24.82, 21.57, 21.03, 22.42]], [39, "success", null], [[39], "collision", [18.27]], [40, "lost_success", null], [[40, 41], "collision", [20.85, 23.08]], [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, 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], "collision", [26.91, 26.67, 30.04, 27.54, 28.15, 25.54, 27.47, 29.87, 29.47, 31.36, 30.44, 50.51, 30.29, 28.86, 28.23, 29.01, 31.77, 28.95, 27.98, 29.25, 30.35, 31.62, 28.18, 29.76, 30.47, 31.13, 31.78, 33.15, 30.94, 30.58, 31.55, 28.35, 28.84, 31.93, 27.9, 29.2, 31.5, 30.33, 31.79, 32.9, 32.58, 30.72, 29.39, 30.45, 32.53, 32.27, 31.07, 32.56, 34.71, 11.58, 10.22, 11.64, 10.76, 10.1]], [96, "lost_success", null], [[96], "collision", [12.71]], [97, "success", null], [[97], "collision", [12.31]], [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], "collision", [12.99, 12.03, 14.4, 11.04, 10.92, 13.55, 13.44, 25.99, 90.31, 170.13, 124.73, 84.51, 118.68, 137.19, 125.47, 58.33, 60.14, 11.61, 12.01, 12.49, 12.0, 8.59, 10.02, 10.83]], [122, "success", null], [[122, 123], "collision", [9.67, 10.72]], [124, "lost_success", null], [[124, 125], "collision", [10.88, 9.81]], [126, "success", null], [[126, 127, 128, 129, 130, 131, 132], "collision", [10.44, 10.81, 11.63, 10.21, 10.12, 11.78, 10.11]], [133, "lost_success", null], [[133, 134], "collision", [12.46, 12.11]], [135, "success", null], [[135], "collision", [11.58]], [136, "lost_success", null], [[136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150], "collision", [13.08, 13.01, 11.14, 15.03, 12.48, 108.0, 164.08, 8.73, 34.74, 67.43, 57.59, 16.67, 11.11, 10.26, 8.78]], [151, "success", null], [[151], "collision", [10.11]], [152, "lost_success", null], [[152], "collision", [12.1]], [153, "success", null], [[153], "collision", [13.43]], [154, "lost_success", null], [[154, 155], "collision", [11.41, 8.3]], [156, "success", null], [[156, 157], "collision", [10.49, 11.78]], [158, "lost_success", null], [[158], "collision", [10.68]], [159, "success", null], [[159, 160, 161, 162, 163], "collision", [11.24, 11.13, 10.53, 12.74, 13.0]], [164, "lost_success", null], [[164], "collision", [12.01]], [165, "success", null], [[165], "collision", [12.1]], [166, "lost_success", null], [[166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185], "collision", [13.36, 12.68, 13.62, 12.62, 11.42, 11.79, 11.91, 83.34, 65.85, 149.8, 114.13, 63.51, 9.61, 9.61, 12.69, 10.76, 10.6, 12.86, 13.1, 12.37]], [186, "success", null], [[186, 187], "collision", [10.94, 9.97]], [188, "lost_success", null], [[188], "collision", [11.45]], [189, "success", null], [[189, 190], "collision", [9.91, 10.59]], [191, "lost_success", null], [[191], "collision", [11.16]], [192, "success", null], [[192, 193, 194, 195, 196, 197], "collision", [9.7, 10.39, 11.99, 10.35, 11.95, 11.77]], [198, "lost_success", null], [[198], "collision", [11.06]], [199, "success", null], [[199], "collision", [11.57]]], + "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": 24, + "task_plan_idx": 8, + "init_config_idx": 63, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21, 29, 32, 33, 34, 35], "collision", [646.63, 1240.19, 542.52, 196.02, 438.79, 109.69]], [38, "contact", null], [38, "grasped", null], [98, "success", null], [106, "lost_success", null], [107, "success", null], [128, "lost_success", null], [129, "success", null], [150, "lost_success", null], [157, "success", null], [184, "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": 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": 27, + "task_plan_idx": 124, + "init_config_idx": 145, + "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, 14, 20], "collision", [124.63, 32.5, 427.67, 268.17, 411.41]], [21, "contact", null], [21, "grasped", null], [[21], "collision", [285.75]], [43, "success", null], [45, "lost_success", null], [88, "success", null], [94, "lost_success", null], [95, "success", null], [125, "lost_success", null], [131, "success", null], [147, "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": 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": 27, + "task_plan_idx": 13, + "init_config_idx": 140, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 20, 22, 23, 24], "collision", [473.03, 261.36, 546.33, 1372.09, 411.39]], [25, "contact", null], [[25], "collision", [210.86]], [27, "grasped", null], [53, "success", null], [83, "lost_success", null], [84, "success", null], [[105, 106, 107, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 122, 127, 133, 134, 137, 138, 139, 140, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 163, 164, 168, 169, 171, 172, 173, 174, 176, 179, 181, 182, 183, 184, 185, 192, 194, 195, 196, 197, 198], "collision", [16.54, 18.73, 24.7, 27.94, 6.68, 9.95, 7.47, 36.07, 23.76, 28.69, 19.53, 11.82, 5.18, 8.88, 4.04, 5.03, 8.76, 0.4, 3.58, 12.02, 9.68, 9.32, 2.49, 11.07, 19.33, 9.79, 10.65, 9.18, 4.45, 1.74, 12.17, 8.81, 11.74, 12.67, 14.79, 13.0, 8.19, 5.13, 6.19, 18.94, 14.67, 3.66, 9.27, 2.36, 3.88, 0.46, 5.1, 25.19, 3.45, 14.0, 14.09, 5.17, 8.13, 7.12, 4.36, 11.0, 8.88, 17.56]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 28, + "task_plan_idx": 165, + "init_config_idx": 151, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 20], "collision", [178.93, 51.18, 127.1]], [22, "contact", null], [22, "grasped", null], [45, "success", null], [47, "lost_success", null], [[48], "collision", [372.32]], [49, "success", null], [[54], "collision", [177.89]], [71, "lost_success", null], [79, "success", null], [156, "lost_success", null], [159, "success", null], [164, "lost_success", null], [166, "success", null], [168, "lost_success", null], [170, "success", null], [171, "lost_success", null], [179, "success", null], [181, "lost_success", null], [182, "success", null], [183, "lost_success", null], [184, "success", null], [185, "lost_success", null], [[186], "collision", [122.35]], [188, "success", null], [193, "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": 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": 28, + "task_plan_idx": 150, + "init_config_idx": 14, + "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], [21, "grasped", null], [[21], "collision", [2797.97]], [41, "success", null], [64, "lost_success", null], [66, "success", null], [67, "lost_success", null], [78, "success", null], [93, "lost_success", null], [95, "success", null], [97, "lost_success", null], [104, "success", null], [108, "lost_success", null], [112, "success", null], [149, "lost_success", null], [151, "success", null], [173, "lost_success", null], [174, "success", null], [175, "lost_success", null], [176, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 29, + "task_plan_idx": 66, + "init_config_idx": 56, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9], "collision", [595.12, 256.89, 274.99, 260.23, 19.35]], [17, "contact", null], [17, "grasped", null], [28, "success", null], [29, "lost_success", null], [30, "success", null], [71, "lost_success", null], [73, "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, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [21.8, 38.82, 38.78, 30.23, 27.05, 25.29, 21.57, 13.72, 24.28, 18.87, 20.75, 17.49, 16.24, 19.38, 24.58, 21.82, 28.54, 30.56, 27.15, 34.28, 21.61, 23.29, 30.71, 25.9, 23.19, 22.73, 19.37, 21.37, 17.98, 12.19, 14.17, 14.3, 13.28, 8.54, 12.37, 20.46, 21.83, 23.77, 17.68, 19.73, 29.31, 14.31, 4.04, 0.85]]], + "articulation_type": "fridge", + "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": 30, + "task_plan_idx": 114, + "init_config_idx": 71, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16], "collision", [186.1, 181.94, 116.39]], [20, "contact", null], [21, "grasped", null], [[23, 24, 25, 26], "collision", [3.62, 0.22, 0.97, 0.55]], [43, "success", null], [58, "lost_success", null], [59, "success", null], [89, "lost_success", null], [92, "success", null], [113, "lost_success", null], [114, "success", null], [[139, 140, 141, 142, 143, 144, 145, 146], "collision", [27.76, 18.26, 19.49, 13.47, 15.28, 12.28, 9.97, 4.31]], [152, "lost_success", null], [157, "success", null], [168, "lost_success", null], [172, "success", null], [176, "lost_success", null], [177, "success", null], [181, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 30, + "task_plan_idx": 83, + "init_config_idx": 105, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 13, 14, 15, 16], "collision", [1199.38, 1771.38, 220.34, 145.71, 156.35]], [19, "contact", null], [20, "grasped", null], [46, "success", null], [48, "lost_success", null], [53, "success", null], [54, "lost_success", null], [56, "success", null], [64, "lost_success", null], [65, "success", null], [141, "lost_success", null], [142, "success", null], [153, "lost_success", null], [154, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [163, "lost_success", null], [164, "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": 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": 30, + "task_plan_idx": 105, + "init_config_idx": 83, + "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, 11, 12, 13], "collision", [267.88, 4.89, 257.95, 244.16, 217.87, 190.2]], [16, "contact", null], [16, "grasped", null], [40, "success", null], [55, "lost_success", null], [56, "success", null], [57, "lost_success", null], [60, "success", null], [126, "lost_success", null], [135, "success", null], [190, "lost_success", null], [191, "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": 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": 31, + "task_plan_idx": 83, + "init_config_idx": 108, + "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", [257.05, 253.36]], [16, "contact", null], [16, "grasped", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [43, "lost_success", null], [44, "success", null], [80, "lost_success", null], [81, "success", null], [151, "lost_success", null], [155, "success", null], [156, "lost_success", null], [157, "success", null], [158, "lost_success", null], [165, "success", null], [166, "lost_success", null], [178, "success", null], [180, "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": 31, + "task_plan_idx": 154, + "init_config_idx": 50, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [1621.06]], [18, "contact", null], [18, "grasped", null], [33, "success", null], [37, "lost_success", null], [51, "success", null], [61, "lost_success", null], [68, "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": 31, + "task_plan_idx": 46, + "init_config_idx": 44, + "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, 9, 10], "collision", [241.54, 218.48, 102.87, 190.48, 171.64]], [11, "contact", null], [12, "grasped", null], [[13, 15, 17], "collision", [16.08, 7.26, 6.98]], [33, "success", null], [37, "lost_success", null], [42, "success", null], [67, "lost_success", null], [69, "success", null], [142, "lost_success", null], [146, "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": 33, + "task_plan_idx": 53, + "init_config_idx": 85, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[24], "collision", [1567.82]], [26, "contact", null], [[28], "collision", [137.83]], [29, "grasped", null], [[29, 30, 31, 32], "collision", [12.01, 12.47, 5.83, 1.46]], [54, "success", null], [[54], "collision", [26.95]], [57, "lost_success", null], [58, "success", null], [[58], "collision", [309.99]], [59, "lost_success", null], [[59, 61, 62, 63, 64], "collision", [6.45, 140.67, 149.12, 55.03, 35.91]], [79, "success", null], [80, "lost_success", null], [81, "success", null], [84, "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": 33, + "task_plan_idx": 63, + "init_config_idx": 155, + "spawn_selection_idx": 92, + "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], [36, "lost_success", null], [37, "success", null], [[67, 81, 83, 84], "collision", [0.85, 37.85, 16.24, 4.01]]], + "articulation_type": "fridge", + "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": 33, + "task_plan_idx": 19, + "init_config_idx": 132, + "spawn_selection_idx": 8, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 16], "collision", [429.84, 52.95]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19, 20], "collision", [132.58, 30.98, 12.45, 471.56]], [88, "success", null], [106, "lost_success", null], [122, "success", null], [135, "lost_success", null], [142, "success", null], [168, "lost_success", null], [170, "success", null], [184, "lost_success", null], [185, "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": 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": 34, + "task_plan_idx": 141, + "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, 10], "collision", [339.65, 269.77]], [14, "contact", null], [[14], "collision", [784.32]], [15, "grasped", null], [[15, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 135, 137, 138, 139, 140, 141], "collision", [375.04, 384.96, 362.71, 165.61, 410.92, 542.09, 422.53, 128.7, 187.07, 35.37, 13.83, 56.65, 29.4, 32.11, 43.69, 31.63, 37.51]], [169, "success", null], [173, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 34, + "task_plan_idx": 80, + "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": [[[16, 18, 19], "collision", [0.47, 238.02, 34.49]], [20, "contact", null], [[20], "collision", [100.58]], [21, "lost_contact", null], [[21], "collision", [54.2]], [22, "contact", null], [[22], "collision", [5.36]], [23, "grasped", null], [[24, 25, 26, 27, 28], "collision", [5.05, 5.69, 6.51, 18.04, 21.27]], [39, "success", null], [40, "lost_success", null], [41, "success", null], [45, "lost_success", null], [[45], "collision", [0.8]], [46, "success", null], [[46, 47, 48], "collision", [0.46, 0.17, 8.83]], [49, "lost_success", null], [[49], "collision", [0.53]], [50, "success", null], [[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], "collision", [2.97, 1.18, 1.24, 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]], [88, "lost_success", null], [[88], "collision", [1.2]], [89, "success", null], [[89], "collision", [1.18]], [90, "lost_success", null], [[90], "collision", [1.18]], [91, "success", null], [[91], "collision", [1.18]], [92, "lost_success", null], [[92], "collision", [1.18]], [93, "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, 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], "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, 1.18, 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]], [164, "lost_success", null], [[164, 165, 166, 167], "collision", [1.18, 1.18, 1.18, 1.18]], [168, "success", null], [[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", [1.18, 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]]], + "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": 35, + "task_plan_idx": 88, + "init_config_idx": 102, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 12, 16], "collision", [2200.5, 399.98, 182.81, 161.26, 197.13, 1386.45]], [17, "contact", null], [17, "grasped", null], [[17], "collision", [107.09]], [31, "success", null], [149, "lost_success", null], [150, "success", null], [160, "lost_success", null], [178, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 35, + "task_plan_idx": 26, + "init_config_idx": 82, + "spawn_selection_idx": 71, + "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], [39, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 22, + "init_config_idx": 79, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[24, 25, 26, 27, 28, 34, 36, 38, 39, 40], "collision", [26.71, 36.03, 38.36, 38.66, 11.47, 27.53, 36.0, 35.62, 36.3, 35.36]], [42, "success", null], [[42], "collision", [35.13]], [43, "lost_success", null], [[43], "collision", [11.13]], [44, "success", null], [[44, 45, 46, 48, 49], "collision", [8.58, 36.73, 37.17, 38.82, 40.63]], [50, "lost_success", null], [[50], "collision", [32.37]], [51, "success", null], [[51, 52, 53, 54, 55, 56], "collision", [35.15, 37.28, 38.95, 40.38, 39.66, 40.93]], [57, "lost_success", null], [[57], "collision", [32.52]], [58, "success", null], [[58, 59, 60, 61, 62, 63, 64], "collision", [31.76, 32.19, 32.57, 31.56, 32.66, 32.32, 32.89]], [65, "lost_success", null], [[65, 66, 78], "collision", [32.0, 26.4, 6.15]], [79, "success", null], [[79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [6.25, 6.25, 6.31, 6.3, 6.23, 6.25, 6.25, 6.18, 6.14]], [88, "lost_success", null], [[88], "collision", [5.86]], [89, "success", null], [[89], "collision", [6.25]], [90, "lost_success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 103, 104, 105], "collision", [6.07, 6.17, 6.33, 6.3, 6.24, 6.02, 5.87, 5.93, 5.86, 5.88, 5.94, 5.62, 5.9, 5.89, 5.83]]], + "articulation_type": "fridge", + "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": 36, + "task_plan_idx": 119, + "init_config_idx": 35, + "spawn_selection_idx": 73, + "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", [1432.43, 282.81, 292.11, 210.38, 266.28, 218.54]], [12, "contact", null], [[12], "collision", [412.53]], [13, "lost_contact", null], [[13], "collision", [575.1]], [17, "contact", null], [17, "grasped", null], [[17], "collision", [28.52]], [40, "success", null], [51, "lost_success", null], [62, "success", null], [69, "lost_success", null], [83, "success", null], [85, "lost_success", null], [86, "success", null], [93, "lost_success", null], [98, "success", null], [101, "lost_success", null], [102, "success", null], [103, "lost_success", null], [105, "success", null], [107, "lost_success", null], [114, "success", null], [117, "lost_success", null], [118, "success", null], [120, "lost_success", null], [122, "success", null], [123, "lost_success", null], [124, "success", null], [125, "lost_success", null], [129, "success", null], [130, "lost_success", null], [133, "success", null], [136, "lost_success", null], [138, "success", null], [140, "lost_success", null], [195, "success", null]], + "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": 36, + "task_plan_idx": 165, + "init_config_idx": 171, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6], "collision", [90.55]], [21, "contact", null], [22, "grasped", null], [45, "success", null], [81, "lost_success", null], [82, "success", null], [91, "lost_success", null], [92, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [138, "success", null], [139, "lost_success", null], [140, "success", null], [153, "lost_success", null], [158, "success", null], [163, "lost_success", null], [167, "success", null], [172, "lost_success", null], [173, "success", null], [175, "lost_success", null], [176, "success", null], [184, "lost_success", null], [185, "success", null], [186, "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": 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": 37, + "task_plan_idx": 67, + "init_config_idx": 21, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [62.33]], [22, "contact", null], [22, "grasped", null], [[22], "collision", [67.4]], [44, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [50, "success", null], [53, "lost_success", null], [54, "success", null], [60, "lost_success", null], [61, "success", null], [69, "lost_success", null], [72, "success", null], [75, "lost_success", null], [76, "success", null], [82, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [95, "lost_success", null], [97, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [107, "success", null], [109, "lost_success", null], [110, "success", null], [112, "lost_success", null], [113, "success", null], [115, "lost_success", null], [117, "success", null], [119, "lost_success", null], [120, "success", null], [122, "lost_success", null], [124, "success", null], [125, "lost_success", null], [127, "success", null], [140, "lost_success", null], [141, "success", null], [143, "lost_success", null], [145, "success", null], [149, "lost_success", null], [151, "success", null], [162, "lost_success", null], [168, "success", null], [172, "lost_success", null], [173, "success", null], [182, "lost_success", null], [186, "success", null], [187, "lost_success", null], [189, "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": 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": 38, + "task_plan_idx": 25, + "init_config_idx": 132, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15, 16, 17, 19], "collision", [232.95, 241.08, 314.44, 160.95, 197.76, 80.09]], [20, "contact", null], [20, "grasped", null], [[20, 21, 22, 23, 24], "collision", [38.09, 0.22, 29.8, 7.68, 2.03]], [41, "success", null], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [46, "success", null], [49, "lost_success", null], [51, "success", null], [[81], "collision", [81.47]], [82, "lost_success", null], [[82], "collision", [31.65]], [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, 112, 113, 114, 115, 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, 199], "collision", [51.13, 50.51, 53.04, 41.47, 44.95, 48.51, 48.04, 34.56, 36.69, 32.98, 24.5, 18.65, 12.71, 41.52, 46.31, 53.77, 48.11, 28.3, 9.4, 18.49, 25.51, 19.96, 21.22, 30.91, 18.35, 7.02, 4.33, 15.77, 3.99, 12.54, 24.16, 9.01, 7.53, 40.71, 29.39, 29.44, 5.86, 22.33, 27.47, 40.03, 27.02, 29.26, 21.66, 24.59, 27.44, 23.82, 25.16, 26.32, 28.16, 25.09, 18.92, 25.0, 25.99, 29.11, 13.52, 35.22, 22.62, 26.04, 23.21, 26.97, 30.75, 26.08, 22.96, 20.33, 16.59, 13.35, 12.19, 15.73, 20.56, 22.06, 23.67, 31.08, 29.14, 28.67, 24.43, 24.77, 26.7, 30.23, 32.3, 27.4, 31.46, 27.4, 22.79, 25.58, 24.08, 22.21, 22.91, 15.95, 22.47, 21.13, 19.35, 15.3, 16.85, 12.89, 15.84, 25.33, 14.82, 12.79, 8.26, 10.24, 13.25, 1.61, 11.06, 11.86, 2.06, 15.83]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 38, + "task_plan_idx": 15, + "init_config_idx": 140, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 9, 10, 11, 12], "collision", [101.06, 119.91, 233.95, 237.61, 198.6, 80.95]], [17, "contact", null], [17, "grasped", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [[48], "collision", [1281.72]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 39, + "task_plan_idx": 109, + "init_config_idx": 52, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [343.03]], [22, "contact", null], [22, "grasped", null], [[33], "collision", [99.02]], [56, "success", null], [57, "lost_success", null], [58, "success", null], [59, "lost_success", null], [61, "success", null], [65, "lost_success", null], [86, "success", null], [87, "lost_success", null], [89, "success", null], [90, "lost_success", null], [91, "success", null], [101, "lost_success", null], [115, "success", null], [118, "lost_success", null], [123, "success", null], [183, "lost_success", null], [196, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 40, + "task_plan_idx": 26, + "init_config_idx": 50, + "spawn_selection_idx": 34, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13], "collision", [401.41, 228.1, 209.17, 194.38]], [16, "contact", null], [19, "lost_contact", null], [20, "contact", null], [20, "grasped", null], [[28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39], "collision", [20.3, 20.48, 19.27, 17.91, 16.89, 16.72, 15.72, 15.59, 14.78, 15.09, 13.75, 14.23]], [40, "success", null], [[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, 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, 194, 195, 196, 197, 198, 199], "collision", [13.63, 13.54, 14.34, 14.88, 13.8, 14.77, 14.16, 13.99, 14.22, 14.99, 13.97, 14.21, 14.43, 14.55, 14.26, 14.24, 14.11, 14.26, 13.65, 14.35, 13.96, 14.39, 14.36, 14.5, 13.82, 13.84, 14.28, 13.83, 14.52, 14.31, 14.41, 14.37, 14.08, 14.32, 15.01, 14.6, 14.26, 14.38, 14.4, 13.88, 14.64, 14.16, 14.51, 14.36, 14.68, 14.45, 14.75, 14.46, 14.02, 14.59, 14.47, 14.13, 14.36, 14.32, 14.17, 14.21, 14.01, 13.99, 14.2, 14.08, 14.41, 14.31, 14.12, 14.46, 14.04, 14.32, 13.97, 14.01, 13.81, 14.82, 14.13, 14.26, 14.29, 14.01, 14.45, 14.91, 13.98, 14.94, 14.41, 14.51, 14.15, 13.97, 14.01, 14.26, 14.19, 14.34, 14.34, 14.26, 14.14, 14.43, 14.59, 14.9, 14.0, 14.86, 14.19, 14.12, 14.06, 14.0, 13.92, 13.76, 14.16, 13.95, 14.25, 14.43, 14.32, 14.23, 14.05, 14.09, 14.17, 14.12, 14.79, 14.08, 14.25, 14.24, 14.52, 14.58, 14.24, 13.98, 14.25, 14.2, 13.98, 13.77, 14.21, 14.2, 14.69, 14.08, 14.28, 14.08, 14.26, 14.15, 14.03, 14.15, 14.5, 14.26, 14.23, 14.21, 14.29, 14.36, 14.16, 14.39, 14.09, 13.83, 14.08, 14.32, 14.25, 14.14, 14.22, 13.95, 14.26, 14.08, 14.21, 14.03, 14.46, 14.29, 14.4, 14.49, 14.11, 14.18, 14.03, 14.26]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 41, + "task_plan_idx": 105, + "init_config_idx": 113, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [231.59, 279.14]], [16, "contact", null], [16, "grasped", null], [32, "success", null], [46, "lost_success", null], [51, "success", null], [54, "lost_success", null], [63, "success", null], [77, "lost_success", null], [83, "success", null], [143, "lost_success", null], [148, "success", null], [154, "lost_success", null], [156, "success", null], [173, "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": 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": 42, + "task_plan_idx": 89, + "init_config_idx": 124, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [375.04, 129.62, 128.77]], [15, "contact", null], [15, "grasped", null], [[22], "collision", [145.87]], [36, "success", null], [86, "lost_success", null], [87, "success", null], [95, "lost_success", null], [111, "success", null], [115, "lost_success", null], [119, "success", null], [121, "lost_success", null], [123, "success", null], [173, "lost_success", null], [174, "success", null], [177, "lost_success", null], [178, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 42, + "task_plan_idx": 80, + "init_config_idx": 41, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11], "collision", [90.16]], [15, "contact", null], [16, "grasped", null], [[21], "collision", [173.22]], [28, "success", null], [31, "lost_success", null], [32, "success", null], [36, "lost_success", null], [37, "success", null], [45, "lost_success", null], [46, "success", null], [54, "lost_success", null], [[54], "collision", [243.06]], [55, "success", null], [[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, 90, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111], "collision", [62.11, 60.1, 52.23, 25.96, 34.49, 33.96, 45.21, 72.08, 66.43, 67.16, 81.48, 50.23, 71.86, 67.02, 56.85, 50.79, 52.96, 43.18, 30.44, 27.23, 19.12, 39.84, 33.16, 44.56, 56.04, 53.75, 63.98, 53.69, 68.16, 67.02, 68.88, 88.15, 68.92, 65.89, 84.5, 23.08, 37.67, 65.76, 65.34, 57.84, 61.95, 61.98, 61.71, 60.54, 55.21, 57.11, 55.46, 59.05, 40.33, 27.47]], [112, "lost_success", null], [[112, 113, 114, 115], "collision", [18.35, 66.99, 27.85, 23.4]], [116, "success", null], [[116, 117, 118, 119, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139], "collision", [37.05, 36.39, 31.23, 35.48, 13.27, 23.41, 10.07, 15.84, 23.72, 41.47, 19.89, 50.81, 39.93, 21.12, 44.02, 44.05, 60.77, 77.88, 78.97, 47.16, 39.74, 25.05, 26.54]], [176, "lost_success", null], [178, "success", null], [180, "lost_success", null], [182, "success", null], [188, "lost_success", null]], + "articulation_type": "fridge", + "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": 42, + "task_plan_idx": 7, + "init_config_idx": 80, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [307.03]], [14, "contact", null], [[15], "collision", [5.76]], [16, "grasped", null], [[27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41], "collision", [52.54, 23.38, 136.96, 14.25, 50.99, 9.55, 11.75, 10.46, 12.24, 10.75, 9.4, 8.82, 8.51, 9.1, 9.86]], [42, "success", null], [[42, 43, 44, 45, 46, 47, 48, 49, 50], "collision", [8.99, 9.57, 10.24, 10.09, 9.68, 9.69, 10.61, 10.56, 10.72]], [51, "lost_success", null], [[51, 52], "collision", [10.29, 10.45]], [53, "success", null], [[53], "collision", [10.74]], [54, "lost_success", null], [[54, 55, 56, 57, 58, 59, 60], "collision", [10.88, 10.58, 10.53, 7.44, 7.76, 6.62, 5.73]], [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, 85, 86, 87, 88], "collision", [5.77, 4.43, 4.62, 4.81, 5.29, 5.65, 6.21, 5.85, 6.25, 6.68, 6.33, 6.92, 6.53, 6.79, 6.89, 6.81, 6.79, 6.35, 6.79, 6.3, 6.68, 6.16, 6.89, 6.56, 6.71, 6.67, 6.68, 6.86]], [89, "lost_success", null], [[89, 90], "collision", [7.11, 6.45]], [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, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130], "collision", [6.97, 6.96, 6.68, 6.62, 6.8, 6.55, 6.63, 6.65, 6.68, 6.52, 6.62, 6.98, 6.45, 6.82, 6.79, 7.05, 7.03, 6.6, 7.05, 6.86, 6.7, 6.72, 5.71, 5.98, 5.97, 5.95, 6.12, 5.54, 5.9, 5.82, 5.74, 5.78, 5.87, 6.11, 5.71, 6.19, 6.47, 6.31, 6.25, 6.13]], [131, "lost_success", null], [[131], "collision", [6.34]], [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], "collision", [6.1, 6.07, 6.2, 6.37, 6.36, 5.95, 5.85, 5.72, 5.8, 6.25, 6.27, 5.92, 5.78, 5.56, 6.09, 5.82, 5.97, 5.71, 5.98, 5.81, 6.16, 5.83]], [154, "lost_success", null], [[154], "collision", [5.72]], [155, "success", null], [[155, 156, 157], "collision", [6.21, 5.59, 5.61]], [158, "lost_success", null], [[158, 159, 160, 161, 162], "collision", [6.94, 7.15, 6.76, 7.04, 6.71]], [163, "success", null], [[163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175], "collision", [6.69, 6.46, 6.33, 6.01, 5.81, 5.91, 6.4, 5.92, 5.76, 6.38, 5.68, 5.76, 6.31]], [176, "lost_success", null], [[176, 177], "collision", [67.31, 20.74]], [178, "success", null], [[178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [20.09, 13.93, 7.51, 4.97, 5.44, 3.85, 3.96, 4.83, 4.91, 4.94, 5.82, 5.18, 5.26, 5.43, 14.15, 4.81]], [194, "lost_success", null], [[194], "collision", [9.37]], [195, "success", null], [[195, 196, 197, 198, 199], "collision", [5.67, 5.22, 15.47, 6.74, 6.0]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 43, + "task_plan_idx": 113, + "init_config_idx": 86, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [64.92]], [22, "contact", null], [22, "grasped", null], [[27], "collision", [9.19]], [56, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 43, + "task_plan_idx": 51, + "init_config_idx": 127, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [24, "grasped", null], [[31], "collision", [4.58]], [51, "success", null], [57, "lost_success", null], [58, "success", null], [63, "lost_success", null], [74, "success", null], [[90, 91, 92, 93, 95, 96, 97, 98, 99], "collision", [31.02, 40.12, 36.79, 30.27, 47.48, 51.78, 32.8, 15.47, 29.74]], [103, "lost_success", null], [104, "success", null], [118, "lost_success", null], [119, "success", null], [124, "lost_success", null], [127, "success", null]], + "articulation_type": "fridge", + "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": 43, + "task_plan_idx": 89, + "init_config_idx": 119, + "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], "collision", [190.16, 184.92, 192.28, 148.61, 150.99]], [21, "contact", null], [21, "grasped", null], [[21], "collision", [419.49]], [45, "success", null], [47, "lost_success", null], [50, "success", null], [59, "lost_success", null], [60, "success", null], [80, "lost_success", null], [81, "success", null], [82, "lost_success", null], [83, "success", null], [84, "lost_success", null], [85, "success", null], [95, "lost_success", null], [97, "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": 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": 44, + "task_plan_idx": 152, + "init_config_idx": 77, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 11], "collision", [306.55, 204.89, 3.18]], [16, "contact", null], [16, "grasped", null], [34, "success", null]], + "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": 44, + "task_plan_idx": 143, + "init_config_idx": 16, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [30, "success", null], [31, "lost_success", null], [32, "success", null], [36, "lost_success", null], [37, "success", null], [38, "lost_success", null], [40, "success", null], [44, "lost_success", null], [45, "success", null], [73, "lost_success", null], [75, "success", null], [105, "lost_success", null], [106, "success", null], [169, "lost_success", null], [176, "success", null], [178, "lost_success", null], [180, "success", null], [185, "lost_success", null], [186, "success", null], [188, "lost_success", null], [190, "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": 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": 45, + "task_plan_idx": 160, + "init_config_idx": 43, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [420.58]], [22, "contact", null], [22, "grasped", null], [45, "success", null], [47, "lost_success", null], [51, "success", null], [70, "lost_success", null], [71, "success", null], [74, "lost_success", null], [75, "success", null], [77, "lost_success", null], [78, "success", null], [173, "lost_success", null], [174, "success", null], [181, "lost_success", null], [184, "success", null]], + "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": 45, + "task_plan_idx": 25, + "init_config_idx": 80, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [[22], "collision", [475.05]], [23, "grasped", null], [[38], "collision", [301.64]], [41, "success", null], [[47, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61], "collision", [244.53, 10.71, 58.36, 35.04, 6.18, 43.38, 27.48, 23.97, 44.56, 42.38, 48.67, 78.93]], [62, "lost_success", null], [[62], "collision", [8.09]], [63, "success", null], [[63, 64, 68, 69, 70, 78, 79, 80, 81, 82, 83, 84, 85, 92, 94, 97, 106, 107], "collision", [56.59, 26.23, 63.76, 57.24, 41.73, 137.99, 55.43, 25.66, 14.22, 51.96, 39.13, 77.78, 27.51, 34.92, 9.38, 66.24, 40.77, 9.31]], [159, "lost_success", null], [160, "success", null], [187, "lost_success", null]], + "articulation_type": "fridge", + "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": 45, + "task_plan_idx": 4, + "init_config_idx": 77, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 16], "collision", [4.1, 89.16]], [21, "contact", null], [21, "grasped", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [49, "success", null], [54, "lost_success", null], [55, "success", null], [[116, 117, 118, 119, 120, 121, 123, 124, 127, 128, 129, 130, 131, 132, 133, 136, 141, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 154, 155, 156, 158, 159, 160, 161, 162, 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", [56.84, 55.98, 58.98, 27.47, 40.71, 45.86, 62.79, 62.13, 0.57, 24.34, 5.03, 22.38, 42.63, 22.06, 35.39, 2.57, 41.88, 24.57, 31.71, 64.83, 5.97, 16.48, 65.97, 18.27, 19.63, 65.56, 20.1, 28.89, 29.64, 11.2, 22.73, 29.93, 65.28, 43.38, 32.0, 13.13, 40.88, 42.7, 42.13, 3.86, 41.16, 34.87, 36.14, 36.44, 49.37, 2.34, 27.01, 61.29, 77.18, 43.3, 35.71, 39.92, 0.3, 34.66, 33.34, 54.6, 35.12, 46.81, 43.01, 67.65, 55.99, 59.82]], [191, "lost_success", null], [[191], "collision", [3.28]], [194, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 46, + "task_plan_idx": 141, + "init_config_idx": 102, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [394.64]], [17, "contact", null], [18, "grasped", null], [35, "success", null], [40, "lost_success", null], [41, "success", null], [[52], "collision", [1341.48]], [53, "lost_success", null], [54, "success", null], [[58], "collision", [316.55]], [59, "lost_success", null], [60, "success", null], [[60, 61], "collision", [317.56, 1.09]], [62, "lost_success", null], [64, "success", null], [[64], "collision", [7.51]], [65, "lost_success", null], [[65], "collision", [50.09]], [77, "success", null], [80, "lost_success", null], [81, "success", null], [84, "lost_success", null], [85, "success", null], [88, "lost_success", null], [89, "success", null], [96, "lost_success", null], [97, "success", null], [109, "lost_success", null], [110, "success", null], [113, "lost_success", null], [114, "success", null], [122, "lost_success", null], [123, "success", null], [[184, 188, 189, 190, 191, 192, 193, 194, 195], "collision", [32.52, 167.06, 45.1, 24.73, 84.9, 69.67, 89.83, 36.71, 8.74]], [196, "lost_success", null], [197, "success", null], [[197, 199], "collision", [20.0, 17.35]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 48, + "task_plan_idx": 39, + "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": [[[12], "collision", [418.12]], [16, "contact", null], [16, "grasped", null], [30, "success", null], [33, "lost_success", null], [34, "success", null], [35, "lost_success", null], [46, "success", null], [47, "lost_success", null], [49, "success", null], [50, "lost_success", null], [119, "success", null], [126, "lost_success", null], [127, "success", null], [129, "lost_success", null], [130, "success", null], [135, "lost_success", null], [[136, 137, 140], "collision", [114.1, 44.14, 7.42]], [145, "success", null], [146, "lost_success", null], [154, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [163, "lost_success", null], [166, "success", null], [171, "lost_success", null], [194, "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": 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": 48, + "task_plan_idx": 123, + "init_config_idx": 120, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 29], "collision", [255.69, 80.44]], [34, "contact", null], [35, "grasped", null], [65, "success", null], [66, "lost_success", null], [68, "success", null], [119, "lost_success", null], [120, "success", null], [145, "lost_success", null], [146, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [159, "success", null], [161, "lost_success", null], [162, "success", null], [177, "lost_success", null], [178, "success", null]], + "articulation_type": "fridge", + "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": 50, + "task_plan_idx": 79, + "init_config_idx": 47, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 22], "collision", [20.63, 2.49]], [24, "contact", null], [24, "grasped", null], [49, "success", null], [53, "lost_success", null], [58, "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, 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], "collision", [13.92, 13.32, 9.92, 9.28, 9.29, 34.19, 46.49, 64.62, 64.77, 60.2, 68.49, 64.26, 61.56, 58.25, 95.78, 96.48, 93.65, 97.24, 97.6, 96.83, 93.52, 93.74, 89.11, 87.57, 91.62, 86.24, 78.43, 81.64, 78.54, 77.63, 76.1, 66.81, 69.83, 64.93, 48.75, 45.78, 43.84, 61.6, 54.56, 49.29, 50.79, 46.15, 48.37, 37.83, 45.73, 45.35, 46.15, 47.26, 64.81, 48.34, 54.73, 52.2, 40.65, 37.96, 37.1, 38.91, 40.02, 38.49, 35.24, 36.37, 40.22, 37.0, 42.01, 40.44, 41.53, 42.91, 47.95, 47.11, 48.3, 49.83, 28.48, 14.19, 12.73, 13.97, 12.47, 12.35, 13.05, 10.06, 9.65, 9.78, 11.06, 10.56, 11.94, 11.01, 9.53, 9.82, 9.33, 9.27, 9.17, 8.29, 9.73, 10.52, 9.02, 12.84]], [156, "lost_success", null], [[156, 157, 158, 159, 160], "collision", [12.31, 9.82, 10.2, 11.33, 12.02]], [161, "success", null], [[161, 162, 163, 164, 165, 166, 167], "collision", [14.1, 13.5, 13.42, 12.39, 13.25, 13.44, 12.46]], [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, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [8.2, 7.78, 6.54, 8.54, 9.94, 10.89, 10.31, 12.36, 10.71, 10.16, 10.54, 11.12, 11.36, 10.43, 13.46, 9.59, 9.42, 10.58, 9.6, 12.75, 14.65, 12.13, 15.43, 13.57, 13.34, 11.76, 9.52, 10.37, 13.7, 12.71, 11.84, 13.82]]], + "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": 50, + "task_plan_idx": 64, + "init_config_idx": 59, + "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", [260.05, 1074.9, 114.99, 134.23]], [16, "contact", null], [17, "grasped", null], [39, "success", null], [40, "lost_success", null], [48, "success", null], [54, "lost_success", null], [57, "success", null], [64, "lost_success", null], [65, "success", null], [[76], "collision", [27.18]], [89, "lost_success", null], [91, "success", null], [92, "lost_success", null], [127, "success", null], [[170], "collision", [8.13]], [171, "lost_success", null], [172, "success", null], [[175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192], "collision", [164.78, 155.96, 29.85, 74.66, 94.87, 69.91, 106.18, 129.94, 64.3, 78.54, 138.51, 78.69, 137.8, 18.26, 71.58, 99.78, 120.46, 191.64]]], + "articulation_type": "fridge", + "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": 50, + "task_plan_idx": 34, + "init_config_idx": 124, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [316.24, 371.65]], [21, "contact", null], [22, "grasped", null], [42, "success", null], [[82, 83, 84, 85], "collision", [4.12, 35.28, 27.98, 31.55]], [88, "lost_success", null], [117, "success", null], [119, "lost_success", null], [131, "success", null], [132, "lost_success", null], [133, "success", null], [135, "lost_success", null], [150, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 51, + "task_plan_idx": 60, + "init_config_idx": 11, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 14], "collision", [115.39, 71.58, 259.76, 199.84, 207.17]], [18, "contact", null], [18, "grasped", null], [38, "success", null], [44, "lost_success", null], [45, "success", null], [58, "lost_success", null], [59, "success", null], [[61, 63, 65], "collision", [1564.94, 343.19, 136.68]], [66, "lost_success", null], [[66], "collision", [235.94]], [67, "success", null], [[67], "collision", [212.85]], [68, "lost_success", null], [[68, 69], "collision", [90.79, 52.74]], [70, "success", null], [[70, 71, 72, 73, 74], "collision", [88.83, 152.76, 113.74, 146.77, 103.2]], [75, "lost_success", null], [[75, 76, 77, 78], "collision", [144.17, 132.4, 164.39, 82.89]], [79, "success", null], [83, "lost_success", null], [89, "success", null], [90, "lost_success", null], [91, "success", null], [94, "lost_success", null], [95, "success", null], [98, "lost_success", null], [[98], "collision", [50.89]], [100, "success", null], [101, "lost_success", null], [102, "success", null], [[106, 109], "collision", [1.75, 7.5]], [110, "lost_success", null], [[110], "collision", [20.08]], [118, "success", null], [131, "lost_success", null], [132, "success", null], [134, "lost_success", null], [138, "success", null], [162, "lost_success", null], [165, "success", null], [168, "lost_success", null], [169, "success", null], [170, "lost_success", null], [171, "success", null], [176, "lost_success", null], [177, "success", null], [181, "lost_success", null], [185, "success", null], [188, "lost_success", null], [189, "success", null], [190, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "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": 51, + "task_plan_idx": 31, + "init_config_idx": 39, + "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], [12, "grasped", null], [28, "success", null], [65, "lost_success", null], [66, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 51, + "task_plan_idx": 23, + "init_config_idx": 43, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15], "collision", [172.54, 325.41, 185.46, 679.9]], [20, "contact", null], [21, "lost_contact", null], [[21], "collision", [1608.52]], [22, "contact", null], [[22, 23], "collision", [57.65, 273.38]], [24, "grasped", null], [56, "success", null], [[124], "collision", [24.03]], [125, "lost_success", null], [126, "success", null], [129, "lost_success", null], [[129], "collision", [23.7]], [130, "success", null], [132, "lost_success", null], [136, "success", null], [166, "lost_success", null], [169, "success", null], [197, "lost_success", null], [198, "success", null], [[199], "collision", [18.05]]], + "articulation_type": "fridge", + "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": 51, + "task_plan_idx": 103, + "init_config_idx": 129, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 25, 27, 29, 30, 31, 32], "collision", [162.76, 171.47, 163.86, 138.33, 22.1, 4.49, 175.77, 588.51, 145.6, 343.01]], [33, "contact", null], [[33], "collision", [193.3]], [34, "grasped", null], [[35, 38], "collision", [3.33, 987.59]], [72, "success", null], [93, "lost_success", null], [94, "success", null], [96, "lost_success", null], [97, "success", null], [156, "lost_success", null], [157, "success", null], [159, "lost_success", null], [163, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 52, + "task_plan_idx": 51, + "init_config_idx": 16, + "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], [[25, 35], "collision", [387.96, 22.91]], [36, "success", null], [[36], "collision", [34.31]], [37, "lost_success", null], [[37], "collision", [41.41]], [38, "success", null], [[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], "collision", [38.55, 28.56, 43.24, 55.01, 60.02, 61.52, 56.08, 61.29, 57.65, 47.07, 46.41, 48.39, 42.27, 39.09, 40.11, 41.59, 32.97, 29.52, 28.64, 27.55, 23.7, 24.01, 22.8, 24.05, 22.72, 22.9, 24.08, 25.0, 25.04, 23.94, 25.29, 25.42, 24.97, 24.59, 24.81, 25.2]], [74, "lost_success", null], [[74], "collision", [26.12]], [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], "collision", [22.76, 24.99, 25.77, 24.68, 24.89, 23.42, 24.42, 26.12, 23.89, 25.26, 24.03, 23.45, 23.85, 24.66, 23.56, 24.28, 24.17, 25.07, 24.54, 23.73, 24.44, 25.57, 24.83, 25.0]], [99, "lost_success", null], [[99, 100], "collision", [24.92, 24.8]], [101, "success", null], [[101, 102], "collision", [24.81, 25.16]], [103, "lost_success", null], [[103, 104, 105, 106, 107], "collision", [23.68, 24.02, 24.26, 24.64, 24.12]], [108, "success", null], [[108], "collision", [24.22]], [109, "lost_success", null], [[109], "collision", [25.43]], [110, "success", null], [[110], "collision", [26.77]], [111, "lost_success", null], [[111], "collision", [24.69]], [112, "success", null], [[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], "collision", [28.54, 27.07, 26.07, 25.91, 25.06, 25.62, 25.82, 26.54, 26.3, 24.71, 26.01, 25.05, 25.86, 26.18, 26.33, 26.34, 25.71, 26.19, 25.73, 26.32, 26.05, 25.61, 24.72, 25.64, 25.45, 26.38, 26.29, 26.01, 24.95, 24.66, 26.21, 24.5, 24.77, 27.14, 25.15, 25.96, 25.4, 25.67, 25.55, 26.2, 25.71, 24.96, 25.96, 25.99, 25.01, 24.59, 25.83, 25.56]], [160, "lost_success", null], [[160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178], "collision", [24.5, 25.83, 25.82, 24.21, 25.8, 24.96, 25.81, 25.11, 25.7, 25.08, 24.99, 25.26, 25.18, 33.78, 21.53, 18.4, 17.83, 18.49, 17.51]], [179, "success", null], [[179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191], "collision", [18.5, 17.49, 18.05, 17.37, 18.71, 18.47, 18.53, 17.69, 18.74, 17.72, 18.43, 17.86, 18.0]], [192, "lost_success", null], [[192], "collision", [35.95]], [193, "success", null], [[193, 194, 195, 196, 197, 198, 199], "collision", [28.07, 9.91, 7.46, 18.2, 23.27, 14.08, 14.21]]], + "articulation_type": "fridge", + "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": 52, + "task_plan_idx": 141, + "init_config_idx": 89, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18, 19, 20], "collision", [398.74, 125.18, 203.16, 145.74, 473.45]], [22, "contact", null], [23, "grasped", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [95, "lost_success", null], [107, "success", null], [108, "lost_success", null], [109, "success", null], [111, "lost_success", null], [121, "success", null], [146, "lost_success", null], [147, "success", null], [153, "lost_success", null], [154, "success", null], [[167], "collision", [24.54]], [168, "lost_success", null], [169, "success", null], [[169, 170, 171], "collision", [67.18, 71.05, 30.07]], [172, "lost_success", null], [[172], "collision", [27.4]], [173, "success", null], [[173, 174, 175], "collision", [64.81, 107.22, 128.2]], [176, "lost_success", null], [178, "success", null], [[181, 185, 186, 187, 188, 191, 192, 193, 194, 195], "collision", [187.34, 29.67, 39.33, 31.27, 26.65, 0.44, 35.47, 27.48, 16.83, 4.93]]], + "articulation_type": "fridge", + "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": 54, + "task_plan_idx": 56, + "init_config_idx": 95, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7], "collision", [4.43]], [13, "contact", null], [13, "grasped", null], [26, "success", null], [[53, 54, 55, 56, 60, 61, 62, 67, 68, 69, 73, 82, 83, 84, 123, 124, 125, 126, 127, 128, 129, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 145, 146, 147, 148, 149, 185], "collision", [105.5, 74.31, 97.4, 130.58, 90.64, 22.7, 38.52, 119.78, 93.71, 141.98, 38.25, 73.99, 22.44, 26.56, 146.21, 134.8, 57.44, 124.22, 57.52, 65.05, 17.29, 54.69, 64.74, 54.95, 17.02, 72.32, 19.75, 79.44, 100.94, 45.22, 77.92, 61.11, 53.6, 34.72, 40.05, 50.56, 69.63, 63.48, 50.94, 165.84]], [186, "lost_success", null], [[186, 187], "collision", [63.37, 149.9]], [188, "success", null], [[188, 189, 190, 191], "collision", [86.06, 75.5, 158.98, 146.13]], [192, "lost_success", null], [[192], "collision", [171.76]], [193, "success", null], [[193, 194, 195, 196, 197, 198], "collision", [125.86, 99.99, 126.11, 121.63, 151.73, 144.45]], [199, "lost_success", null], [[199], "collision", [155.96]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 54, + "task_plan_idx": 107, + "init_config_idx": 49, + "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], [22, "grasped", null], [45, "success", null], [[91, 92, 93, 94, 95, 96, 97, 99, 100, 101, 103, 104, 105, 106, 109, 110, 111, 112, 117, 118, 119, 120, 121, 122, 123, 124, 125, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136], "collision", [29.35, 48.84, 51.88, 69.89, 94.76, 45.11, 72.47, 32.44, 60.6, 42.7, 58.54, 49.34, 44.03, 42.58, 31.45, 60.02, 91.14, 13.95, 89.68, 119.13, 96.61, 91.61, 76.8, 69.07, 51.89, 38.21, 27.41, 5.03, 5.53, 22.79, 13.98, 13.24, 14.86, 15.98, 7.54, 9.52, 3.05]], [137, "lost_success", null], [[137], "collision", [2.17]], [138, "success", null], [[138], "collision", [1.39]], [139, "lost_success", null], [[139, 140], "collision", [4.86, 2.48]], [141, "success", null], [[141, 142, 143, 144, 145, 146, 147], "collision", [5.06, 3.82, 8.42, 7.91, 12.05, 4.01, 2.21]], [148, "lost_success", null], [[148, 149], "collision", [2.02, 3.68]], [150, "success", null], [[150, 151, 152, 153, 154, 155, 156, 157, 158, 159], "collision", [3.24, 3.37, 3.77, 3.21, 3.79, 8.68, 11.43, 6.8, 6.86, 7.22]]], + "articulation_type": "fridge", + "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": 54, + "task_plan_idx": 117, + "init_config_idx": 41, + "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], [15, "grasped", null], [30, "success", null], [35, "lost_success", null], [37, "success", null], [39, "lost_success", null], [40, "success", null], [131, "lost_success", null], [133, "success", null], [171, "lost_success", null], [172, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 54, + "task_plan_idx": 29, + "init_config_idx": 70, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [59.7]], [20, "contact", null], [20, "grasped", null], [[34, 35], "collision", [82.09, 39.2]], [36, "success", null], [[36], "collision", [50.05]], [37, "lost_success", null], [[37], "collision", [45.83]], [38, "success", null], [[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, 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", [41.04, 23.84, 18.32, 25.3, 19.3, 22.73, 27.52, 26.09, 27.55, 27.33, 26.96, 24.18, 25.98, 25.82, 25.69, 24.59, 25.71, 24.93, 25.32, 29.56, 32.46, 35.09, 34.21, 30.76, 30.92, 26.14, 24.67, 26.18, 27.84, 51.18, 48.56, 53.61, 52.55, 61.16, 70.66, 68.05, 74.11, 71.99, 81.51, 91.43, 94.41, 94.9, 94.4, 93.18, 87.92, 80.5, 74.34, 64.88, 45.32, 48.15, 46.55, 41.91, 37.16, 96.42, 56.62, 18.42, 74.03, 61.14, 12.36, 11.66, 12.0, 12.13, 12.41, 18.11, 21.75, 21.09, 24.18, 26.1, 23.21, 8.5, 5.61]], [110, "lost_success", null], [[111, 112, 115, 116], "collision", [0.01, 0.06, 1.3, 0.99]], [117, "success", null], [[117, 118, 119, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 138], "collision", [0.24, 0.02, 0.01, 5.09, 1.04, 7.09, 14.67, 24.06, 41.96, 38.57, 26.86, 19.87, 20.07, 15.0, 3.12, 0.66]], [139, "lost_success", null], [140, "success", null], [[140, 141], "collision", [0.47, 0.04]], [144, "lost_success", null], [145, "success", null], [[145, 146, 148, 149, 151, 154, 155, 161, 167, 168, 170, 171, 172, 174, 175, 177, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.15, 0.3, 0.32, 0.61, 0.17, 0.07, 0.18, 0.02, 0.18, 0.12, 0.1, 1.96, 0.69, 2.01, 2.5, 5.08, 5.95, 4.41, 8.61, 6.44, 10.82, 17.8, 30.73, 48.98, 53.15, 62.11, 70.78, 74.04, 73.64, 77.5, 80.79, 97.34, 88.23, 60.08, 72.5, 45.61, 56.96]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 55, + "task_plan_idx": 20, + "init_config_idx": 67, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [294.34]], [17, "contact", null], [17, "grasped", null], [36, "success", null], [37, "lost_success", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [45, "lost_success", null], [49, "success", null], [52, "lost_success", null], [55, "success", null], [135, "lost_success", null], [136, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 55, + "task_plan_idx": 44, + "init_config_idx": 122, + "spawn_selection_idx": 74, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[42, 43], "collision", [196.32, 188.73]], [44, "success", null], [[44], "collision", [68.18]], [45, "lost_success", null], [[45, 46, 47, 48, 49, 50], "collision", [337.83, 118.43, 77.67, 69.42, 39.87, 66.64]], [51, "success", null], [[51, 52], "collision", [25.62, 23.26]], [53, "lost_success", null], [[53], "collision", [24.78]], [54, "success", null], [[54], "collision", [21.8]], [55, "lost_success", null], [74, "success", null], [78, "lost_success", null], [84, "success", null], [[91], "collision", [17.66]], [93, "lost_success", null], [[93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 104, 106], "collision", [2.37, 3.17, 1.19, 2.36, 0.95, 1.94, 1.77, 0.27, 0.64, 0.33, 1.27, 1.54]], [108, "success", null], [[108], "collision", [3.06]], [109, "lost_success", null], [[110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120], "collision", [8.62, 10.43, 6.58, 7.47, 5.07, 7.0, 4.08, 4.59, 3.12, 3.12, 3.52]], [121, "success", null], [[121], "collision", [3.14]], [122, "lost_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, 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], "collision", [4.52, 3.34, 6.98, 4.68, 5.68, 4.74, 5.95, 3.43, 5.24, 5.55, 3.03, 4.58, 5.25, 2.29, 1.16, 4.47, 2.84, 5.24, 7.43, 5.47, 4.78, 2.36, 5.13, 7.88, 5.71, 8.54, 10.39, 10.46, 11.68, 14.05, 14.54, 15.7, 14.72, 15.79, 14.87, 14.83, 15.64, 10.99, 11.74, 13.23, 11.27, 12.99, 14.47, 13.25, 10.49, 11.8, 11.99, 13.53, 11.43, 10.48, 11.34, 10.12, 8.97, 11.2, 12.03]], [177, "success", null], [[177, 178, 179], "collision", [14.5, 14.75, 4.66]], [180, "lost_success", null], [[180, 181, 182], "collision", [9.78, 9.59, 8.27]], [183, "success", null], [[183, 184], "collision", [9.94, 9.78]], [185, "lost_success", null], [[185], "collision", [10.67]], [186, "success", null], [[186], "collision", [9.76]], [187, "lost_success", null], [[187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [10.51, 11.74, 13.87, 12.56, 12.88, 11.48, 10.77, 13.37, 13.86, 13.83, 15.64, 14.23, 13.97]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 55, + "task_plan_idx": 14, + "init_config_idx": 109, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [899.1]], [24, "contact", null], [25, "grasped", null], [45, "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": 56, + "task_plan_idx": 33, + "init_config_idx": 105, + "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], [17, "grasped", null], [31, "success", null], [32, "lost_success", null], [33, "success", null], [[34], "collision", [0.19]], [36, "lost_success", null], [37, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 56, + "task_plan_idx": 10, + "init_config_idx": 72, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [88.75]], [20, "contact", null], [20, "grasped", null], [[20], "collision", [230.66]], [47, "success", null], [49, "lost_success", null], [51, "success", null], [52, "lost_success", null], [59, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [69, "success", null], [73, "lost_success", null], [75, "success", null], [78, "lost_success", null], [100, "success", null], [125, "lost_success", null], [126, "success", null], [127, "lost_success", null], [128, "success", null], [132, "lost_success", null], [151, "success", null], [153, "lost_success", null], [154, "success", null], [160, "lost_success", null], [161, "success", null], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null], [172, "lost_success", null], [173, "success", null], [176, "lost_success", null], [177, "success", null], [179, "lost_success", null], [180, "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": 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": 56, + "task_plan_idx": 70, + "init_config_idx": 61, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [0.52]], [19, "contact", null], [19, "grasped", null], [[24, 25, 26, 27, 28, 29, 30], "collision", [639.43, 112.64, 149.02, 177.93, 161.59, 165.73, 166.03]], [105, "success", null], [115, "lost_success", null], [116, "success", null], [117, "lost_success", null], [132, "success", null], [133, "lost_success", null], [135, "success", null], [156, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null], [162, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null], [167, "lost_success", null], [168, "success", null], [169, "lost_success", null], [170, "success", null], [173, "lost_success", null], [174, "success", null], [178, "lost_success", null], [180, "success", null], [182, "lost_success", null], [183, "success", null], [185, "lost_success", null], [186, "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": 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": 57, + "task_plan_idx": 150, + "init_config_idx": 93, + "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], [23, "grasped", null], [46, "success", null], [74, "lost_success", null], [77, "success", null], [113, "lost_success", null], [114, "success", null], [117, "lost_success", null], [122, "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": 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": 57, + "task_plan_idx": 4, + "init_config_idx": 149, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [425.99, 109.7, 133.23, 82.82]], [16, "contact", null], [17, "grasped", null], [[17, 18], "collision", [2.71, 5.54]], [48, "success", null], [53, "lost_success", null], [54, "success", null], [57, "lost_success", null], [58, "success", null], [63, "lost_success", null], [64, "success", null], [69, "lost_success", null], [70, "success", null], [76, "lost_success", null], [77, "success", null], [83, "lost_success", null], [84, "success", null], [87, "lost_success", null], [94, "success", null], [96, "lost_success", null], [97, "success", null], [98, "lost_success", null], [100, "success", null], [101, "lost_success", null], [104, "success", null], [120, "lost_success", null], [123, "success", null], [124, "lost_success", null], [126, "success", null], [128, "lost_success", null], [129, "success", null], [140, "lost_success", null], [141, "success", null], [143, "lost_success", null], [144, "success", null], [147, "lost_success", null], [148, "success", null], [169, "lost_success", null], [170, "success", null], [175, "lost_success", null], [177, "success", null], [184, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "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": 58, + "task_plan_idx": 108, + "init_config_idx": 31, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [[14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27], "collision", [8.81, 39.03, 13.16, 12.23, 14.89, 2.36, 4.9, 2.64, 5.18, 5.13, 6.26, 4.69, 3.75, 3.89]], [28, "success", null], [[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, 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", [4.47, 6.12, 4.15, 3.12, 4.81, 3.55, 2.78, 4.59, 4.79, 4.94, 3.71, 3.98, 4.83, 5.44, 5.11, 5.54, 4.63, 5.43, 6.71, 7.3, 6.99, 6.29, 4.86, 6.9, 6.35, 5.76, 4.65, 6.25, 6.73, 5.14, 5.78, 5.56, 5.47, 354.06, 4.78, 5.08, 98.88, 42.91, 46.57, 59.39, 33.62, 69.25, 54.5, 6.12, 6.63, 6.58, 7.38, 6.16, 5.82, 7.44, 6.49, 5.08, 6.01, 5.6, 6.22, 6.69, 7.89, 8.06, 7.45, 7.97, 5.53, 6.0, 3.71, 4.99, 5.17, 6.28, 6.02, 6.03, 7.13, 5.99, 5.2, 5.33, 6.38, 6.04, 5.12, 7.56, 6.89, 7.33, 6.63, 6.33, 8.41, 83.84, 27.54, 25.6, 24.27, 32.23, 33.18]], [115, "lost_success", null], [[115], "collision", [31.04]], [116, "success", null], [[116, 117, 118, 119, 120, 121, 122, 123, 124, 125], "collision", [35.44, 27.39, 41.38, 53.46, 67.94, 63.49, 61.14, 52.56, 61.85, 3.23]], [126, "lost_success", null], [[126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139], "collision", [6.07, 7.22, 7.32, 5.34, 5.34, 6.48, 3.91, 4.71, 5.66, 5.23, 5.96, 5.85, 4.26, 4.77]], [140, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149], "collision", [3.25, 4.03, 4.37, 4.14, 4.06, 3.96, 3.25, 4.7, 5.09, 3.27]], [150, "lost_success", null], [[150], "collision", [3.99]], [151, "success", null], [[151], "collision", [4.14]], [152, "lost_success", null], [[152, 153], "collision", [3.98, 5.21]], [154, "success", null], [[154, 155, 156], "collision", [6.49, 3.6, 4.81]], [157, "lost_success", null], [[157, 158, 159], "collision", [5.26, 4.89, 4.67]], [160, "success", null], [[160, 161, 162, 163, 164, 165, 166, 167, 168], "collision", [4.62, 4.12, 3.31, 5.13, 5.46, 8.21, 6.73, 5.14, 4.12]], [169, "lost_success", null], [[169], "collision", [3.5]], [170, "success", null], [[170, 171, 172, 173, 174, 175, 176], "collision", [3.77, 3.91, 3.47, 4.9, 3.95, 4.31, 6.22]], [177, "lost_success", null], [[177], "collision", [5.37]], [178, "success", null], [[178], "collision", [4.19]], [179, "lost_success", null], [[179], "collision", [4.62]], [180, "success", null], [[180, 181, 182, 183, 184], "collision", [4.54, 5.3, 4.8, 4.91, 5.17]], [185, "lost_success", null], [[185], "collision", [4.76]], [186, "success", null], [[186], "collision", [5.61]], [187, "lost_success", null], [[187, 188, 189], "collision", [6.79, 4.23, 3.76]], [190, "success", null], [[190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [4.78, 5.64, 4.94, 6.53, 4.79, 3.85, 6.34, 5.93, 5.57, 5.46]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 54, + "init_config_idx": 117, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [142.32]], [20, "contact", null], [20, "grasped", null], [51, "success", null], [66, "lost_success", null], [67, "success", null], [68, "lost_success", null], [69, "success", null], [144, "lost_success", null], [149, "success", null], [151, "lost_success", null], [154, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [161, "success", null], [176, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 58, + "task_plan_idx": 103, + "init_config_idx": 14, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [254.82, 231.16, 223.89]], [17, "contact", null], [17, "grasped", null], [31, "success", null], [32, "lost_success", null], [33, "success", null], [[43, 46, 47, 48, 49, 50, 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, 104, 105, 106, 109], "collision", [16.01, 14.51, 12.95, 16.99, 10.64, 23.72, 35.13, 34.71, 55.65, 69.5, 78.32, 91.53, 59.83, 55.0, 59.29, 74.77, 87.67, 80.31, 56.59, 72.78, 97.63, 84.04, 77.82, 76.29, 55.7, 47.28, 62.82, 43.62, 50.02, 72.94, 59.52, 35.32, 26.37, 19.25, 19.98, 16.47, 19.58, 21.18, 29.56, 24.77, 39.84, 0.21, 6.74, 33.32, 31.57, 61.98, 34.07, 101.05, 87.34, 37.65, 39.11, 29.16, 10.68]], [111, "lost_success", null], [112, "success", null], [[114, 117], "collision", [32.54, 13.66]]], + "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": 88, + "init_config_idx": 94, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 15, 16, 17], "collision", [376.61, 157.74, 154.93, 9.77]], [18, "contact", null], [[18], "collision", [958.92]], [19, "grasped", null], [46, "success", null], [52, "lost_success", null], [62, "success", null], [65, "lost_success", null], [[65], "collision", [65.33]], [66, "success", null], [[66, 67, 68], "collision", [54.53, 61.52, 73.68]], [69, "lost_success", null], [[69, 70, 71, 72, 76], "collision", [83.35, 66.67, 54.12, 6.35, 4.28]], [78, "success", null], [79, "lost_success", null], [81, "success", null], [96, "lost_success", null], [97, "success", null], [[99, 100, 101], "collision", [50.22, 46.84, 36.18]], [102, "lost_success", null], [[103, 104], "collision", [36.63, 6.63]], [115, "success", null], [117, "lost_success", null], [122, "success", null], [141, "lost_success", null], [142, "success", null], [143, "lost_success", null], [144, "success", null], [157, "lost_success", null], [158, "success", null], [160, "lost_success", null], [162, "success", null], [183, "lost_success", null], [188, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 10, + "init_config_idx": 7, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 18, 19], "collision", [2.74, 1644.77, 171.79]], [20, "contact", null], [[20], "collision", [490.85]], [21, "grasped", null], [43, "success", null], [48, "lost_success", null], [49, "success", null], [85, "lost_success", null], [86, "success", null], [87, "lost_success", null], [88, "success", null], [89, "lost_success", null], [90, "success", null], [98, "lost_success", null], [99, "success", null], [125, "lost_success", null], [127, "success", null], [128, "lost_success", null], [130, "success", null], [133, "lost_success", null], [135, "success", null], [136, "lost_success", null], [141, "success", null], [142, "lost_success", null], [143, "success", null], [166, "lost_success", null], [168, "success", null], [170, "lost_success", null], [172, "success", null], [178, "lost_success", null], [186, "success", null]], + "articulation_type": "fridge", + "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": 60, + "task_plan_idx": 120, + "init_config_idx": 57, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [21, "grasped", null], [[33, 34, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [10.6, 4.62, 17.05, 37.68, 84.73, 103.84, 91.07, 108.24, 152.07, 149.33, 107.78, 129.33, 55.92, 59.99, 51.37, 38.78, 43.44, 44.74]], [52, "success", null], [[52, 53, 54, 55, 56, 57, 58, 59], "collision", [55.34, 44.51, 55.51, 65.63, 75.89, 45.12, 33.8, 8.88]], [60, "lost_success", null], [[60, 61, 62, 63], "collision", [8.91, 22.19, 3.15, 1.4]], [64, "success", null], [[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, 194, 195, 196, 197, 198, 199], "collision", [0.35, 0.35, 0.35, 0.49, 1.79, 2.98, 5.73, 6.35, 9.09, 20.4, 17.9, 20.2, 17.63, 18.72, 18.85, 11.17, 14.67, 10.66, 18.0, 16.82, 3.87, 0.39, 10.3, 5.18, 7.84, 10.11, 5.13, 7.52, 6.98, 3.59, 11.36, 20.54, 10.94, 13.08, 19.13, 16.71, 10.95, 9.39, 9.72, 8.77, 7.48, 6.92, 7.04, 7.29, 6.28, 6.96, 6.62, 5.92, 5.33, 6.14, 4.91, 5.2, 6.0, 7.5, 7.24, 6.64, 6.79, 7.11, 6.77, 6.01, 6.43, 5.67, 5.1, 5.83, 5.94, 5.05, 4.17, 4.52, 5.62, 5.38, 5.23, 5.8, 5.34, 5.6, 5.83, 5.77, 5.73, 5.83, 6.16, 6.31, 6.12, 6.34, 5.76, 6.27, 5.89, 5.69, 5.44, 5.39, 5.47, 5.67, 4.69, 4.49, 4.47, 5.24, 5.16, 5.03, 5.16, 5.02, 5.55, 5.66, 5.77, 6.08, 6.35, 6.46, 6.93, 7.81, 7.83, 8.02, 7.09, 7.46, 7.87, 7.06, 7.05, 6.45, 6.16, 6.18, 6.73, 6.48, 6.3, 6.57, 6.42, 6.77, 6.75, 5.95, 6.17, 6.88, 7.09, 6.75, 6.01, 6.35, 5.8, 6.18, 6.37, 6.14, 6.4, 5.97]]], + "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": 60, + "task_plan_idx": 138, + "init_config_idx": 74, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [31, "success", null], [32, "lost_success", null], [33, "success", null], [[34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49], "collision", [12.78, 14.29, 10.62, 13.53, 14.46, 14.42, 15.5, 12.04, 20.33, 20.79, 15.71, 15.64, 11.99, 14.91, 8.22, 15.34]], [50, "lost_success", null], [[50, 51, 52], "collision", [14.92, 14.72, 16.46]], [53, "success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [21.59, 25.78, 20.38, 26.19, 18.33, 22.89, 24.14, 26.29, 27.26, 26.2, 23.8, 28.1, 25.49, 24.06, 20.53, 20.29, 20.14]], [70, "lost_success", null], [[70], "collision", [23.33]], [71, "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, 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, 145, 146, 147, 148, 149], "collision", [31.3, 35.75, 40.6, 44.61, 47.06, 40.76, 42.86, 39.88, 30.45, 26.53, 33.95, 35.94, 34.38, 39.68, 27.95, 36.56, 30.75, 22.99, 23.04, 29.61, 32.34, 27.13, 33.06, 36.11, 44.89, 48.84, 42.34, 38.42, 40.35, 41.6, 33.95, 31.12, 28.88, 34.18, 20.96, 21.69, 22.59, 25.01, 26.15, 23.7, 24.4, 28.06, 27.78, 22.59, 21.34, 7.07, 7.81, 6.14, 18.04, 22.58, 22.86, 11.16, 10.9, 8.48, 12.3, 12.92, 6.45, 5.37, 5.95, 12.47, 20.89, 20.12, 30.33, 27.24, 18.46, 18.2, 21.19, 26.86, 6.12, 8.68, 0.35, 0.8, 10.75, 1.73, 7.23, 7.32]], [159, "lost_success", null], [169, "success", null], [170, "lost_success", null], [180, "success", null], [185, "lost_success", null], [188, "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": 61, + "task_plan_idx": 33, + "init_config_idx": 123, + "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], [13, "grasped", null], [[19], "collision", [16.07]], [25, "success", null], [[34], "collision", [4.23]], [83, "lost_success", null], [87, "success", null], [[163, 164, 165, 166, 167], "collision", [20.94, 8.23, 4.49, 9.63, 11.24]], [168, "lost_success", null], [[168, 169], "collision", [10.2, 20.08]], [170, "success", null], [[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", [17.85, 23.01, 23.94, 24.71, 20.49, 23.22, 24.64, 30.23, 29.75, 27.74, 26.89, 32.38, 34.82, 33.02, 34.35, 35.5, 30.71, 26.81, 25.56, 28.95, 28.56, 28.25, 28.82, 34.33, 36.34, 36.38, 42.66, 42.4, 41.35, 42.83]]], + "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": 62, + "task_plan_idx": 49, + "init_config_idx": 6, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 9, 10, 11], "collision", [861.0, 498.3, 201.43, 192.54]], [15, "contact", null], [16, "grasped", null], [35, "success", null], [36, "lost_success", null], [37, "success", null], [48, "lost_success", null], [52, "success", null], [62, "lost_success", null], [63, "success", null], [65, "lost_success", null], [72, "success", null], [73, "lost_success", null], [94, "success", null], [104, "lost_success", null], [110, "success", null], [146, "lost_success", null], [147, "success", null], [159, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [164, "lost_success", null], [165, "success", null], [167, "lost_success", null], [168, "success", null], [169, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 55, + "init_config_idx": 126, + "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], [27, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 11, + "init_config_idx": 124, + "spawn_selection_idx": 65, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 14], "collision", [327.37, 227.79, 231.46]], [15, "contact", null], [15, "grasped", null], [31, "success", null], [33, "lost_success", null], [47, "success", null], [52, "lost_success", null], [68, "success", null], [70, "lost_success", null], [73, "success", null], [81, "lost_success", null], [82, "success", null], [86, "lost_success", null], [87, "success", null], [89, "lost_success", null], [90, "success", null], [110, "lost_success", null], [111, "success", null], [115, "lost_success", null], [116, "success", null], [124, "lost_success", null], [129, "success", null], [136, "lost_success", null], [137, "success", null]], + "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": 63, + "task_plan_idx": 64, + "init_config_idx": 128, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [265.8]], [22, "contact", null], [23, "grasped", null], [41, "success", null], [[48], "collision", [252.41]], [49, "lost_success", null], [50, "success", null], [[50], "collision", [42.32]], [51, "lost_success", null], [60, "success", null], [109, "lost_success", null], [111, "success", null], [114, "lost_success", null], [116, "success", null], [117, "lost_success", null], [140, "success", null], [159, "lost_success", null], [160, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 109, + "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": [[[13, 14], "collision", [65.89, 1.29]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29], "collision", [36.6, 45.37, 19.79, 17.9, 16.29, 7.4, 12.15, 8.08, 4.86, 7.24, 9.21, 6.59, 11.37]], [30, "success", null], [[30], "collision", [12.57]], [31, "lost_success", null], [[31], "collision", [11.63]], [32, "success", null], [[32, 33], "collision", [8.67, 7.62]], [34, "lost_success", null], [[34, 35, 36, 37, 38, 39], "collision", [11.37, 12.05, 8.16, 8.48, 10.66, 12.24]], [40, "success", null], [[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, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [10.62, 11.06, 13.74, 10.0, 6.38, 5.21, 5.7, 6.26, 10.14, 6.83, 9.19, 12.79, 11.16, 4.71, 9.13, 10.86, 13.85, 11.24, 12.71, 8.6, 8.14, 12.72, 12.36, 13.15, 12.29, 11.27, 8.06, 7.09, 8.18, 10.56, 11.91, 7.64, 14.23, 7.31, 6.99, 10.37, 8.48, 11.15, 10.94, 13.4, 11.94, 10.26, 8.32, 9.2, 10.04, 10.32, 8.94, 10.85, 10.14, 8.85, 13.6, 10.07]], [92, "lost_success", null], [[92, 93], "collision", [10.62, 12.13]], [94, "success", null], [[94, 95], "collision", [16.26, 11.35]], [96, "lost_success", null], [[96], "collision", [17.01]], [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, 133, 134, 135], "collision", [12.42, 13.59, 11.34, 10.0, 10.8, 13.59, 11.68, 11.16, 11.58, 10.56, 14.45, 15.08, 14.46, 14.17, 14.37, 13.21, 14.06, 10.04, 11.03, 13.97, 15.1, 11.87, 14.19, 11.8, 12.09, 11.15, 14.29, 11.29, 12.57, 12.63, 11.34, 13.5, 11.97, 9.77, 13.78, 11.23, 13.54, 13.86, 13.53]], [136, "lost_success", null], [[136, 137, 138, 139, 140], "collision", [11.64, 10.72, 13.72, 10.74, 10.44]], [141, "success", null], [[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", [13.79, 10.2, 12.48, 8.62, 9.5, 9.85, 9.86, 10.52, 12.68, 10.72, 12.66, 12.75, 12.92, 15.38, 12.05, 13.64, 13.69, 11.88, 13.65, 11.48, 11.85, 14.45, 13.22, 12.36, 12.84, 15.1, 14.81, 12.25, 12.94, 11.58, 10.5, 9.98, 11.16, 13.35, 10.77, 10.58, 11.11, 11.34, 12.88, 10.44, 10.98, 10.6, 11.56, 13.38, 25.54, 34.11, 41.4, 60.72, 60.08, 52.93, 49.89, 49.61, 19.69, 17.95, 17.74, 18.42, 17.08, 16.46, 18.57]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 64, + "task_plan_idx": 180, + "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": [[[10, 11, 12, 13, 14, 17, 19], "collision", [202.96, 165.87, 443.75, 270.33, 237.35, 481.8, 1607.13]], [20, "contact", null], [20, "grasped", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [[65, 66, 67, 68], "collision", [23.87, 29.61, 21.54, 4.84]], [69, "success", null], [70, "lost_success", null], [[70, 73], "collision", [18.27, 1.33]], [75, "success", null], [[75], "collision", [5.03]], [76, "lost_success", null], [82, "success", null], [83, "lost_success", null], [90, "success", null], [104, "lost_success", null], [125, "success", null], [126, "lost_success", null], [141, "success", null], [144, "lost_success", null], [155, "success", null], [158, "lost_success", null], [160, "success", null], [184, "lost_success", null], [186, "success", null], [188, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 21, + "init_config_idx": 69, + "spawn_selection_idx": 41, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 13], "collision", [170.76, 1045.3, 168.19, 200.33, 207.86]], [16, "contact", null], [16, "grasped", null], [[18], "collision", [7.95]], [34, "success", null], [96, "lost_success", null], [101, "success", null], [104, "lost_success", null], [110, "success", null], [127, "lost_success", null], [128, "success", null], [137, "lost_success", null], [138, "success", null], [139, "lost_success", null], [143, "success", null], [144, "lost_success", null], [147, "success", null], [148, "lost_success", null], [149, "success", null], [153, "lost_success", null], [155, "success", null], [159, "lost_success", null], [161, "success", null], [164, "lost_success", null], [165, "success", null], [184, "lost_success", null], [188, "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": 66, + "task_plan_idx": 4, + "init_config_idx": 50, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8], "collision", [136.13, 258.63]], [14, "contact", null], [14, "grasped", null], [26, "success", null], [121, "lost_success", null], [127, "success", null], [129, "lost_success", null], [131, "success", null], [149, "lost_success", null], [150, "success", null], [155, "lost_success", null], [157, "success", null], [162, "lost_success", null], [163, "success", null]], + "articulation_type": "fridge", + "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": 66, + "task_plan_idx": 153, + "init_config_idx": 0, + "spawn_selection_idx": 29, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16], "collision", [205.24, 89.11, 190.34]], [18, "contact", null], [19, "lost_contact", null], [21, "contact", null], [[21], "collision", [9.86]], [22, "grasped", null], [[22, 23], "collision", [16.53, 4.22]], [42, "success", null], [46, "lost_success", null], [[46], "collision", [33.9]], [47, "success", null], [53, "lost_success", null], [75, "success", null], [138, "lost_success", null], [149, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 67, + "task_plan_idx": 50, + "init_config_idx": 42, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [43, "success", null], [46, "lost_success", null], [47, "success", null], [50, "lost_success", null], [51, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 67, + "task_plan_idx": 91, + "init_config_idx": 7, + "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], [[37, 39, 41, 42, 43, 44], "collision", [0.5, 5.2, 33.11, 2.35, 27.08, 2.64]], [48, "success", null], [56, "lost_success", null], [70, "success", null], [73, "lost_success", null], [78, "success", null], [83, "lost_success", null], [84, "success", null], [106, "lost_success", null], [113, "success", null], [126, "lost_success", null], [146, "success", null], [149, "lost_success", null], [166, "success", null]], + "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": 68, + "task_plan_idx": 111, + "init_config_idx": 50, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 13, 14, 15, 16, 17, 18, 20, 21], "collision", [172.4, 24.81, 53.12, 71.44, 99.88, 41.11, 285.36, 762.69, 742.25]], [24, "contact", null], [24, "grasped", null], [45, "success", null], [49, "lost_success", null], [52, "success", null], [57, "lost_success", null], [60, "success", null], [94, "lost_success", null], [95, "success", null], [100, "lost_success", null], [101, "success", null], [105, "lost_success", null], [106, "success", null], [130, "lost_success", null], [131, "success", null], [139, "lost_success", null], [140, "success", null], [149, "lost_success", null], [150, "success", null], [151, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null], [162, "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": 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": 68, + "task_plan_idx": 44, + "init_config_idx": 146, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 11, 12], "collision", [614.85, 173.65, 78.84, 298.09]], [13, "contact", null], [14, "lost_contact", null], [15, "contact", null], [17, "grasped", null], [39, "success", null], [42, "lost_success", null], [44, "success", null], [51, "lost_success", null], [52, "success", null], [56, "lost_success", null], [57, "success", null], [62, "lost_success", null], [63, "success", null], [64, "lost_success", null], [66, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [77, "success", null], [81, "lost_success", null], [83, "success", null], [86, "lost_success", null], [87, "success", null], [106, "lost_success", null], [107, "success", null], [[123], "collision", [326.23]], [124, "lost_success", null], [[124], "collision", [242.25]], [125, "success", null], [[125, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139], "collision", [37.52, 77.87, 10.06, 103.68, 109.6, 113.11, 101.34, 95.1, 102.39, 143.68, 122.79, 128.52, 62.51, 132.34]], [140, "lost_success", null], [[140], "collision", [90.58]], [143, "success", null], [154, "lost_success", null], [163, "success", null], [164, "lost_success", null], [165, "success", null], [168, "lost_success", null], [169, "success", null], [180, "lost_success", null], [181, "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": 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": 7, + "task_plan_idx": 25, + "init_config_idx": 156, + "spawn_selection_idx": 19, + "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, 25, 26, 27, 28, 29, 30, 31, 39, 40, 43, 45, 46], "collision", [41.41, 392.7, 284.63, 199.79, 226.37, 230.0, 206.96, 268.88, 252.49, 222.45, 225.5, 222.16, 191.97, 114.41, 172.91, 106.97, 196.81, 134.04, 196.66, 158.3, 151.45]], [48, "contact", null], [49, "grasped", null], [81, "success", null], [84, "lost_success", null], [87, "success", null], [90, "lost_success", null], [92, "success", null], [93, "lost_success", null], [97, "success", null], [104, "lost_success", null], [105, "success", null], [109, "lost_success", null], [110, "success", null], [117, "lost_success", null], [118, "success", null], [122, "lost_success", null], [123, "success", null], [127, "lost_success", null], [128, "success", null], [130, "lost_success", null], [131, "success", null], [138, "lost_success", null], [139, "success", null], [144, "lost_success", null], [145, "success", null], [159, "lost_success", null], [160, "success", null], [164, "lost_success", null], [165, "success", null], [170, "lost_success", null], [171, "success", null], [172, "lost_success", null], [173, "success", null], [175, "lost_success", null], [176, "success", null], [187, "lost_success", null], [193, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "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": 7, + "task_plan_idx": 46, + "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], [41, "lost_success", null], [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, 99, 100, 101, 102, 103, 104, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117], "collision", [78.01, 89.7, 92.74, 69.21, 72.08, 81.07, 89.66, 84.04, 66.76, 70.49, 77.05, 63.67, 82.69, 67.29, 78.63, 32.73, 51.35, 49.62, 53.45, 60.85, 62.36, 61.59, 63.11, 71.89, 62.84, 61.58, 69.37, 63.17, 76.19, 81.69, 72.74, 73.83, 43.19, 33.71, 56.14, 29.57, 27.37, 39.12, 39.1, 34.27, 28.98, 19.13, 30.01, 21.85, 16.71, 14.15, 26.91, 19.41, 25.45, 21.93, 11.21, 14.63, 25.91, 31.86, 22.81, 18.79, 39.57, 28.35, 43.66, 44.35, 46.54, 33.14, 28.87]], [119, "lost_success", null], [120, "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": 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": 8, + "task_plan_idx": 82, + "init_config_idx": 131, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "collision", [91.08, 120.63, 112.49, 991.57, 203.21, 290.38, 302.71, 319.29, 143.75, 202.16, 117.76]], [32, "contact", null], [[34], "collision", [254.97]], [35, "grasped", null], [[35, 40, 41, 42], "collision", [199.91, 993.38, 289.7, 74.88]], [169, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 9, + "task_plan_idx": 118, + "init_config_idx": 91, + "spawn_selection_idx": 49, + "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], "collision", [2.7]], [35, "success", null], [36, "lost_success", null], [37, "success", null], [39, "lost_success", null], [43, "success", null], [73, "lost_success", null], [75, "success", null], [[92, 93, 94, 95, 96, 97], "collision", [54.21, 71.91, 40.45, 17.41, 45.29, 31.91]], [98, "lost_success", null], [99, "success", null], [101, "lost_success", null], [102, "success", null], [104, "lost_success", null], [105, "success", null], [108, "lost_success", null], [109, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 9, + "task_plan_idx": 53, + "init_config_idx": 108, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 16, 17, 20], "collision", [28.93, 4.47, 14.17, 0.2]], [21, "contact", null], [21, "grasped", null], [39, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [44, "success", null], [45, "lost_success", null], [46, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 9, + "task_plan_idx": 130, + "init_config_idx": 43, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 21], "collision", [232.41, 4117.78]], [22, "contact", null], [22, "grasped", null], [[26, 27, 28], "collision", [5.16, 2.46, 2.29]], [48, "success", null], [51, "lost_success", null], [52, "success", null], [[52, 53, 54, 55, 56], "collision", [40.33, 47.58, 37.35, 40.95, 31.8]], [57, "lost_success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67], "collision", [57.98, 54.47, 42.13, 47.19, 54.31, 3.12, 33.58, 29.2, 10.5, 26.99, 7.34]], [69, "success", null], [84, "lost_success", null], [85, "success", null], [106, "lost_success", null], [107, "success", null], [129, "lost_success", null], [130, "success", null], [132, "lost_success", null], [133, "success", null], [152, "lost_success", null], [154, "success", null], [160, "lost_success", null], [161, "success", null], [163, "lost_success", null], [164, "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": 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": 12, + "task_plan_idx": 13, + "init_config_idx": 89, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [88, "success", null], [101, "lost_success", null], [104, "success", null], [147, "lost_success", null], [149, "success", null], [153, "lost_success", null], [155, "success", null], [159, "lost_success", null], [163, "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": 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": 13, + "task_plan_idx": 28, + "init_config_idx": 7, + "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], "collision", [515.77, 212.25, 218.14, 191.45, 185.25, 171.78]], [18, "contact", null], [18, "grasped", null], [[21, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [1.2, 0.66, 18.5, 24.85, 7.62, 11.99, 17.2, 13.7, 15.65, 14.45, 11.73, 13.69, 13.79, 11.03, 12.39, 14.23, 10.65, 11.58, 13.27, 12.97, 11.98, 12.74, 12.1]], [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, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [11.11, 13.85, 12.63, 11.75, 13.37, 9.45, 13.42, 13.58, 11.4, 11.83, 12.3, 14.44, 13.41, 12.38, 12.3, 14.24, 14.79, 14.75, 13.7, 15.33, 14.05, 11.83, 11.96, 15.91, 14.92, 15.65, 13.09, 12.3, 14.21, 14.0, 14.81, 13.38, 11.72, 12.6, 12.83, 13.1, 14.32, 14.73, 11.88, 11.57, 13.8, 13.19, 12.84]], [89, "lost_success", null], [[89], "collision", [11.81]], [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], "collision", [15.04, 14.65, 13.01, 13.03, 13.21, 15.66, 16.51, 11.56, 12.89, 10.72, 11.7, 12.07, 13.49, 12.05, 14.1, 14.25, 12.79, 11.45, 13.74, 10.35, 15.83, 13.85, 12.76, 12.88, 13.29, 11.75]], [116, "lost_success", null], [[116, 117, 118, 119, 120, 121, 122, 123], "collision", [12.7, 16.13, 14.43, 11.13, 13.0, 8.02, 12.05, 9.04]], [124, "success", null], [[124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137], "collision", [9.28, 10.18, 10.23, 10.36, 12.89, 15.71, 13.73, 13.64, 17.32, 17.47, 11.35, 15.63, 13.02, 8.78]], [138, "lost_success", null], [[138, 139], "collision", [6.95, 7.32]], [140, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152], "collision", [7.3, 5.92, 6.4, 4.37, 4.66, 9.81, 6.03, 8.07, 7.93, 4.73, 9.53, 6.08, 7.29]], [153, "lost_success", null], [[153], "collision", [9.03]], [154, "success", null], [[154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174], "collision", [9.72, 7.72, 8.6, 6.47, 5.99, 3.49, 6.34, 4.57, 4.59, 4.28, 6.92, 6.67, 6.48, 9.7, 9.2, 6.83, 7.38, 8.64, 6.45, 8.13, 10.29]], [175, "lost_success", null], [[175, 176], "collision", [6.28, 10.35]], [177, "success", null], [[177, 178, 179, 180, 181, 182, 183, 184, 185], "collision", [7.9, 10.93, 7.41, 9.01, 8.19, 7.27, 6.74, 6.99, 7.36]], [186, "lost_success", null], [[186], "collision", [8.53]], [187, "success", null], [[187, 188], "collision", [7.51, 8.61]], [189, "lost_success", null], [[189], "collision", [6.34]], [190, "success", null], [[190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [5.68, 7.34, 7.18, 9.04, 8.74, 5.32, 9.95, 7.23, 5.84, 8.32]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 13, + "task_plan_idx": 155, + "init_config_idx": 110, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [52, "success", null], [97, "lost_success", null], [99, "success", null], [111, "lost_success", null], [114, "success", null], [117, "lost_success", null], [119, "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": 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": 14, + "task_plan_idx": 79, + "init_config_idx": 119, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6], "collision", [783.33]], [13, "contact", null], [13, "grasped", null], [29, "success", null], [[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, 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], "collision", [14.99, 24.08, 33.91, 37.41, 27.12, 25.83, 25.51, 25.89, 23.26, 25.04, 22.28, 24.89, 24.12, 24.67, 25.29, 25.85, 20.9, 20.49, 22.35, 22.52, 23.38, 21.22, 23.51, 21.36, 23.44, 27.57, 21.38, 24.75, 21.97, 24.75, 22.37, 23.27, 21.38, 27.39, 26.47, 25.04, 25.66, 30.02, 24.86, 22.83, 26.9, 26.69, 23.16, 26.28, 26.86, 19.91, 27.31, 30.81, 29.35, 29.71, 28.51, 29.58, 28.34, 28.98, 27.65, 30.98, 25.64, 27.55, 28.12, 27.36, 28.73, 25.11, 27.95, 26.73, 28.3, 26.8, 31.42, 30.03, 28.73, 29.79, 27.74, 27.8, 26.29, 24.22, 28.1, 24.24, 25.14, 26.43, 27.08, 30.44, 25.05, 22.68, 23.21, 25.38, 24.58, 25.74, 31.39, 29.81, 29.96, 28.22, 25.8, 26.02, 24.29, 30.25, 27.11, 27.25, 31.14, 27.76, 30.88, 27.71, 31.07, 34.68, 28.03, 27.11, 27.69, 26.11, 27.94, 26.45, 31.42, 30.29, 29.49, 30.51, 29.03, 26.96, 26.67, 29.56, 26.26, 27.28, 31.0, 31.59, 29.78, 31.64, 34.81, 30.0, 29.32, 30.85, 30.7, 30.59, 31.57, 27.21]], [165, "lost_success", null], [[165], "collision", [25.83]], [166, "success", null], [[166], "collision", [25.48]], [167, "lost_success", null], [[167, 168], "collision", [26.89, 5.51]], [169, "success", null], [[169], "collision", [5.43]], [170, "lost_success", null], [[170, 171, 172], "collision", [5.03, 4.51, 1.18]], [173, "success", null], [[173, 174], "collision", [1.89, 4.15]], [175, "lost_success", null], [[175], "collision", [3.34]], [176, "success", null], [[176], "collision", [2.54]], [177, "lost_success", null], [[177], "collision", [6.46]], [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", [2.74, 2.63, 2.63, 2.74, 4.0, 4.15, 1.81, 2.76, 4.18, 4.85, 2.94, 2.54, 3.63, 3.19, 4.52, 0.93, 3.79, 5.28, 7.72, 8.82, 8.44, 8.91]]], + "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": 15, + "task_plan_idx": 94, + "init_config_idx": 11, + "spawn_selection_idx": 45, + "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, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43], "collision", [3.12, 0.31, 0.23, 0.61, 0.22, 0.3, 0.33, 0.43, 0.47, 0.36, 0.23, 0.28, 0.19]], [45, "success", null], [50, "lost_success", null], [[50], "collision", [0.35]], [51, "success", null], [[51, 52, 53, 54], "collision", [0.34, 0.32, 0.33, 0.34]], [55, "lost_success", null], [[55], "collision", [0.37]], [56, "success", null], [[56], "collision", [0.34]], [57, "lost_success", null], [[57], "collision", [0.36]], [58, "success", null], [[58, 59], "collision", [0.36, 0.36]], [60, "lost_success", null], [[60, 61], "collision", [0.38, 0.37]], [62, "success", null], [68, "lost_success", null], [69, "success", null], [73, "lost_success", null], [[77], "collision", [0.33]], [78, "success", null], [[78, 79, 80, 81], "collision", [0.31, 0.33, 0.32, 0.3]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 16, + "task_plan_idx": 25, + "init_config_idx": 105, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [46.46, 189.8]], [17, "contact", null], [18, "grasped", null], [[26, 27, 28, 29, 30, 31, 32, 33], "collision", [16.52, 58.3, 40.11, 39.64, 18.61, 14.52, 15.32, 14.47]], [34, "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, 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, 194, 195, 196, 197, 198, 199], "collision", [12.62, 11.84, 11.26, 12.47, 11.48, 10.63, 10.51, 9.64, 11.6, 11.85, 11.48, 11.85, 12.2, 13.52, 14.58, 10.54, 11.25, 12.26, 12.19, 12.6, 12.99, 12.62, 11.4, 14.03, 12.77, 11.4, 12.12, 10.78, 11.37, 13.59, 10.58, 10.74, 11.89, 12.39, 12.63, 12.89, 12.37, 12.28, 12.79, 12.37, 13.19, 10.33, 11.86, 11.67, 11.52, 12.49, 11.64, 12.25, 9.68, 11.86, 10.52, 12.04, 12.15, 11.59, 9.88, 10.92, 11.0, 11.91, 10.73, 11.26, 10.42, 11.67, 11.79, 10.69, 10.6, 10.2, 10.43, 10.0, 11.1, 9.96, 12.36, 10.61, 10.54, 11.87, 13.23, 12.54, 11.87, 10.88, 11.51, 11.64, 12.55, 11.15, 13.48, 14.97, 13.75, 13.66, 13.87, 12.35, 11.73, 13.21, 13.22, 13.22, 12.28, 12.55, 11.07, 13.36, 11.76, 12.89, 12.23, 11.38, 13.68, 14.19, 13.0, 12.29, 11.3, 13.27, 13.22, 13.2, 13.3, 12.42, 13.0, 13.05, 10.26, 15.45, 12.04, 12.15, 11.43, 11.43, 9.38, 13.85, 11.68, 10.68, 12.36, 12.94, 11.17, 11.02, 12.36, 13.44, 12.38, 12.99, 11.43, 11.3, 13.07, 12.35, 12.55, 12.8, 13.78, 12.73, 12.83, 12.65, 11.48, 11.35, 11.95, 11.2, 12.88, 12.44, 11.93, 11.14, 12.22, 11.55, 10.71, 11.96, 13.72, 10.12, 9.8, 11.77, 12.58, 10.71, 11.29, 11.83, 11.78, 10.23, 12.21, 12.59, 10.41, 10.83]]], + "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": 17, + "task_plan_idx": 139, + "init_config_idx": 114, + "spawn_selection_idx": 49, + "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, "grasped", null], [[44, 45, 46, 47, 48, 49, 50, 51], "collision", [16.86, 39.72, 54.84, 46.0, 32.83, 22.54, 13.13, 1.98]], [52, "success", null], [[52], "collision", [7.34]], [53, "lost_success", null], [[53, 54], "collision", [12.92, 15.32]], [55, "success", null], [[55], "collision", [59.04]], [56, "lost_success", null], [[56], "collision", [67.34]], [57, "success", null], [[57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69], "collision", [62.85, 101.16, 113.01, 93.07, 120.63, 113.62, 85.07, 107.51, 76.88, 70.06, 51.73, 48.0, 41.55]], [70, "lost_success", null], [[70, 71, 72], "collision", [45.42, 50.5, 41.17]], [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, 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, 164, 166, 167, 168, 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", [47.64, 51.31, 48.51, 40.96, 16.06, 10.85, 19.64, 31.96, 20.54, 17.87, 26.66, 33.25, 51.61, 43.77, 42.61, 43.02, 44.53, 46.08, 49.05, 45.38, 39.3, 38.74, 35.22, 33.82, 46.29, 46.0, 45.3, 35.13, 34.23, 33.46, 33.36, 38.59, 40.34, 41.42, 40.78, 44.35, 45.32, 44.14, 40.04, 35.05, 39.28, 37.27, 32.14, 32.42, 29.1, 24.12, 15.31, 18.45, 32.87, 27.81, 37.27, 31.91, 34.91, 34.02, 33.26, 26.34, 17.63, 14.25, 21.34, 30.84, 29.84, 34.44, 23.47, 13.46, 16.3, 8.69, 10.38, 17.91, 16.03, 14.79, 14.0, 10.97, 5.31, 5.61, 5.66, 12.5, 14.73, 10.7, 1.55, 6.47, 0.49, 6.37, 7.31, 15.61, 10.87, 4.07, 9.14, 13.37, 3.17, 1.48, 0.99, 4.02, 8.13, 1.61, 3.17, 0.73, 7.79, 7.57, 11.7, 15.9, 10.27, 18.2, 32.74, 33.75, 28.74, 29.0, 25.09, 16.32, 9.55, 5.5, 14.89, 8.94, 10.41, 16.77, 29.03, 28.57, 34.06, 37.18, 39.85, 35.84, 40.18, 33.04, 31.9, 29.38]]], + "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": 18, + "task_plan_idx": 120, + "init_config_idx": 72, + "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], [19, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [9.25, 16.07, 19.82, 8.05, 2.4, 0.36, 1.66, 2.0, 3.12, 0.91, 0.77, 0.78, 1.06, 2.03, 0.87, 0.55, 1.07, 0.64]], [37, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 20, + "task_plan_idx": 178, + "init_config_idx": 90, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 14, 17], "collision", [2.04, 453.1, 313.06]], [18, "contact", null], [18, "grasped", null], [41, "success", null], [57, "lost_success", null], [89, "success", null], [99, "lost_success", null], [100, "success", null], [101, "lost_success", null], [115, "success", null], [117, "lost_success", null], [126, "success", null], [131, "lost_success", null], [132, "success", null], [135, "lost_success", null], [139, "success", null], [140, "lost_success", null], [141, "success", null], [151, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null], [166, "lost_success", null], [168, "success", null], [179, "lost_success", null], [186, "success", null], [192, "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": 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": 20, + "task_plan_idx": 53, + "init_config_idx": 46, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [[25, 31, 32], "collision", [432.3, 97.98, 76.23]], [39, "success", null], [[42, 43, 44, 45, 46, 47], "collision", [37.1, 80.2, 39.6, 49.4, 47.87, 28.62]], [48, "lost_success", null], [51, "success", null], [55, "lost_success", null], [58, "success", null], [60, "lost_success", null], [71, "success", null], [85, "lost_success", null], [102, "success", null], [179, "lost_success", null], [181, "success", null]], + "articulation_type": "fridge", + "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": 21, + "task_plan_idx": 11, + "init_config_idx": 83, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 18, 19, 20, 21, 23, 25], "collision", [107.87, 35.81, 7.49, 147.17, 169.91, 158.42, 1754.21, 310.93, 594.81]], [26, "contact", null], [26, "grasped", null], [[26, 30], "collision", [290.96, 6.7]], [55, "success", null], [87, "lost_success", null], [88, "success", null], [91, "lost_success", null], [93, "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": 21, + "task_plan_idx": 43, + "init_config_idx": 144, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 19], "collision", [144.34, 215.08]], [20, "contact", null], [20, "grasped", null], [[20], "collision", [176.96]], [43, "success", null], [84, "lost_success", null], [88, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [174, "success", null], [181, "lost_success", null], [189, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null], [[193], "collision", [586.48]], [195, "success", null], [[197], "collision", [971.75]], [198, "lost_success", null], [199, "success", null], [[199], "collision", [283.3]]], + "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": 22, + "task_plan_idx": 87, + "init_config_idx": 115, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [[30, 31, 32], "collision", [27.37, 36.06, 38.44]], [33, "success", null], [[33, 34], "collision", [56.03, 55.39]], [35, "lost_success", null], [[35, 36, 37, 38], "collision", [57.44, 52.31, 33.01, 35.96]], [39, "success", null], [[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], "collision", [33.54, 30.99, 21.4, 16.14, 15.73, 17.93, 20.95, 26.49, 29.21, 32.84, 45.57, 40.19, 38.03, 34.4, 35.43, 20.43, 6.1, 2.09, 5.54, 10.37, 4.01, 7.08, 9.55, 13.25, 14.91, 14.68, 13.96, 8.52, 10.25, 1.35, 0.11, 1.83]], [86, "lost_success", null], [99, "success", null], [114, "lost_success", null], [[116, 117, 118, 119], "collision", [30.64, 25.59, 6.84, 21.98]], [121, "success", null], [122, "lost_success", null], [123, "success", null], [126, "lost_success", null], [128, "success", null], [145, "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": 24, + "task_plan_idx": 89, + "init_config_idx": 135, + "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], [24, "grasped", null], [[37, 38, 39, 40, 41, 42], "collision", [43.3, 77.0, 62.56, 7.84, 39.58, 106.16]], [43, "success", null], [[43], "collision", [46.69]], [44, "lost_success", null], [[44], "collision", [40.59]], [45, "success", null], [[45, 46, 47, 48], "collision", [46.44, 44.05, 47.0, 17.81]], [49, "lost_success", null], [[49], "collision", [2.83]], [50, "success", null], [[50], "collision", [4.62]], [51, "lost_success", null], [[51], "collision", [4.53]], [52, "success", null], [[52, 53, 54, 55], "collision", [7.37, 7.15, 7.23, 6.63]], [56, "lost_success", null], [[56, 57, 58], "collision", [7.87, 8.04, 8.46]], [59, "success", null], [[59, 60], "collision", [8.38, 9.09]], [61, "lost_success", null], [[61], "collision", [7.83]], [62, "success", null], [[62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [8.45, 8.35, 9.67, 9.36, 8.98, 8.52, 9.36, 8.39, 10.02, 9.04, 10.23, 9.3, 8.54, 8.51, 8.68, 7.61, 10.22, 6.97, 10.31, 8.69, 10.72]], [83, "lost_success", null], [[83, 84], "collision", [8.59, 8.98]], [85, "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, 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, 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", [10.07, 9.0, 9.34, 9.81, 9.44, 10.07, 9.22, 9.15, 8.96, 9.03, 8.92, 9.07, 9.54, 9.92, 9.64, 9.39, 10.33, 9.79, 9.43, 9.29, 9.44, 8.81, 10.19, 9.8, 9.63, 12.27, 6.92, 5.12, 7.41, 9.36, 7.79, 8.63, 9.43, 10.12, 9.12, 9.31, 9.9, 8.94, 9.72, 9.96, 9.7, 8.4, 10.03, 9.53, 9.23, 25.14, 44.02, 48.5, 42.31, 11.01, 18.28, 16.57, 33.66, 34.55, 33.68, 5.22, 17.73, 21.64, 21.53, 7.09, 8.61, 1.52, 3.82, 8.58, 12.36, 3.01, 3.03, 6.98, 0.9, 2.2, 7.59, 15.99, 15.99, 19.85, 13.73, 20.98, 16.63, 23.14, 28.84, 31.92, 32.51, 28.81, 20.92, 16.36, 11.16, 11.56, 10.78, 11.72, 6.7, 3.66, 2.42, 6.37, 21.49, 18.77, 4.86, 11.16, 19.5]], [183, "lost_success", null], [[183, 184], "collision", [2.45, 53.8]], [185, "success", null], [[185], "collision", [57.59]], [186, "lost_success", null], [[186, 187, 188], "collision", [38.72, 21.27, 20.35]], [189, "success", null], [[189, 190, 191], "collision", [26.8, 9.19, 5.25]], [192, "lost_success", null], [[192, 193, 194, 195], "collision", [5.61, 2.8, 4.17, 5.0]], [196, "success", null], [[196, 197, 198, 199], "collision", [6.59, 7.16, 8.42, 9.41]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 24, + "task_plan_idx": 145, + "init_config_idx": 139, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [16, "grasped", null], [28, "success", null], [34, "lost_success", null], [41, "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": 24, + "task_plan_idx": 17, + "init_config_idx": 156, + "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], [23, "grasped", null], [58, "success", null], [60, "lost_success", null], [93, "success", null], [95, "lost_success", null], [96, "success", null], [102, "lost_success", null], [104, "success", null], [108, "lost_success", null], [113, "success", null], [115, "lost_success", null], [116, "success", null], [118, "lost_success", null], [120, "success", null], [123, "lost_success", null], [124, "success", null], [128, "lost_success", null], [129, "success", null], [132, "lost_success", null], [133, "success", null]], + "articulation_type": "fridge", + "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": 24, + "task_plan_idx": 116, + "init_config_idx": 81, + "spawn_selection_idx": 16, + "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], [34, "lost_success", null], [38, "success", null], [39, "lost_success", null], [40, "success", null], [41, "lost_success", null], [42, "success", null], [43, "lost_success", null], [56, "success", null], [66, "lost_success", null], [72, "success", null], [76, "lost_success", null], [78, "success", null], [101, "lost_success", null], [103, "success", null], [105, "lost_success", null], [106, "success", null], [172, "lost_success", null], [173, "success", null], [175, "lost_success", null], [179, "success", null], [180, "lost_success", null], [181, "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": 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": 25, + "task_plan_idx": 22, + "init_config_idx": 86, + "spawn_selection_idx": 39, + "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, 42, 43, 44], "collision", [6.16, 8.31, 5.24, 1.69]], [45, "success", null], [46, "lost_success", null], [47, "success", null], [61, "lost_success", null], [63, "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, 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], "collision", [2.69, 26.11, 58.0, 34.11, 32.74, 31.88, 34.48, 32.89, 34.33, 39.47, 32.34, 20.38, 16.63, 15.71, 14.29, 12.63, 11.98, 10.98, 11.39, 9.83, 9.63, 8.32, 7.48, 10.0, 9.81, 9.12, 3.92, 7.2, 3.08, 8.24, 4.95, 4.29, 4.97, 3.99, 4.2, 5.62, 8.09, 9.65, 9.01, 7.74, 7.13, 6.15, 8.7, 8.51, 12.04, 18.24, 21.42, 23.03, 22.8, 22.34, 24.31, 22.45, 27.05, 31.57, 27.42, 28.35, 23.28, 15.63, 17.19, 15.13, 15.79, 16.3, 16.36, 17.99, 22.57, 27.48, 32.37, 31.23, 35.37, 26.23, 12.65, 6.85, 3.72, 4.85, 5.0, 32.37, 34.91, 19.73, 21.88, 35.25, 31.88, 33.78, 28.42, 2.83, 28.15, 18.41]], [158, "lost_success", null], [[158], "collision", [5.1]], [159, "success", null], [[159, 160], "collision", [6.75, 1.53]], [161, "lost_success", null], [[162, 163, 164, 165, 166, 167, 168], "collision", [26.61, 3.22, 18.02, 1.74, 2.11, 1.33, 2.77]], [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", [27.32, 12.36, 25.7, 26.98, 28.95, 27.45, 1.98, 2.09, 16.91, 3.47, 4.3, 2.43, 4.38, 2.33, 2.52, 1.54, 3.0, 29.17, 11.9, 4.72, 2.3, 19.12, 3.05, 2.49, 4.32, 2.32, 3.16, 2.64, 1.97, 3.7, 1.18]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 25, + "task_plan_idx": 64, + "init_config_idx": 87, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 12, 20], "collision", [685.94, 703.38, 1652.62, 215.73]], [23, "contact", null], [23, "grasped", null], [45, "success", null], [51, "lost_success", null], [58, "success", null], [84, "lost_success", null], [86, "success", null], [113, "lost_success", null], [114, "success", null], [116, "lost_success", null], [125, "success", null], [126, "lost_success", null], [135, "success", null], [188, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 27, + "task_plan_idx": 163, + "init_config_idx": 65, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22, 23], "collision", [137.63, 218.2]], [24, "contact", null], [25, "grasped", null], [49, "success", null], [112, "lost_success", null], [114, "success", null], [115, "lost_success", null], [118, "success", null], [122, "lost_success", null], [124, "success", null], [[152, 155, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 168, 169], "collision", [282.31, 545.89, 369.95, 0.43, 30.34, 82.35, 91.78, 115.93, 120.58, 89.97, 34.57, 52.53, 26.7, 12.97]], [175, "lost_success", null], [180, "success", null], [184, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 28, + "task_plan_idx": 145, + "init_config_idx": 82, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 11, 12, 13, 14, 15], "collision", [443.39, 324.75, 113.23, 99.45, 182.84, 165.36, 185.75, 194.47, 206.15, 175.86]], [17, "contact", null], [17, "grasped", null], [34, "success", null], [55, "lost_success", null], [58, "success", null], [73, "lost_success", null], [176, "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": 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": 28, + "task_plan_idx": 92, + "init_config_idx": 127, + "spawn_selection_idx": 76, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[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], "collision", [29.82, 26.15, 40.29, 60.91, 60.41, 25.01, 24.16, 27.05, 25.8, 26.3, 12.39, 11.4, 10.16, 12.39, 12.59, 10.56, 11.92, 10.97, 12.73]], [36, "success", null], [[36], "collision", [11.52]], [37, "lost_success", null], [[37], "collision", [10.64]], [38, "success", null], [[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], "collision", [11.41, 10.81, 11.37, 10.89, 11.38, 11.62, 11.14, 10.98, 10.18, 10.07, 11.02, 11.57, 11.5, 11.75, 12.01, 11.84, 11.75, 12.4, 12.05, 12.33, 13.17, 12.03, 10.94, 12.36, 12.41, 12.51, 12.93, 12.42, 12.19, 13.7, 11.55, 12.93, 12.88, 11.67, 12.42, 12.54, 12.68, 12.56, 13.56, 13.54]], [78, "lost_success", null], [[78, 79, 80, 81, 82, 83, 84, 85, 86, 87], "collision", [12.46, 12.99, 12.32, 12.7, 13.84, 14.06, 13.43, 13.17, 13.36, 13.29]], [88, "success", null], [[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], "collision", [14.42, 13.35, 13.09, 14.55, 13.22, 13.63, 13.34, 13.13, 14.29, 13.83, 13.83, 13.35, 13.77, 13.61, 12.53, 12.47, 13.58, 14.64, 13.58, 14.28, 12.8, 13.16, 12.24, 12.57, 11.9, 12.68, 12.59, 13.72, 13.86, 13.87, 14.17, 12.35, 15.8, 14.83, 13.93, 15.25, 15.17]], [125, "lost_success", null], [[125, 126, 127], "collision", [15.76, 14.88, 15.63]], [128, "success", null], [[128, 129, 130], "collision", [15.12, 15.23, 15.56]], [131, "lost_success", null], [[131, 132, 133, 134], "collision", [15.53, 15.59, 15.72, 15.31]], [135, "success", null], [[135], "collision", [16.26]], [136, "lost_success", null], [[136, 137, 138, 139], "collision", [15.98, 16.37, 16.4, 16.0]], [140, "success", null], [[140], "collision", [16.55]], [141, "lost_success", null], [[141, 142, 143, 144, 145], "collision", [17.16, 16.22, 14.99, 14.4, 15.42]], [146, "success", null], [[146], "collision", [15.17]], [147, "lost_success", null], [[147], "collision", [15.82]], [148, "success", null], [[148, 149, 150], "collision", [14.22, 15.39, 15.82]], [151, "lost_success", null], [[151, 152, 153, 154, 155, 156], "collision", [16.1, 15.79, 15.71, 15.93, 14.69, 13.31]], [157, "success", null], [[157, 158, 159, 160, 161, 162], "collision", [13.04, 13.63, 13.13, 13.93, 15.7, 14.75]], [163, "lost_success", null], [[163, 164, 165, 166, 167, 168], "collision", [14.49, 15.91, 15.44, 15.37, 14.09, 14.39]], [169, "success", null], [[169], "collision", [14.03]], [170, "lost_success", null], [[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", [15.71, 14.75, 15.76, 15.44, 15.15, 14.39, 15.03, 15.4, 15.17, 15.82, 15.95, 16.08, 15.35, 14.45, 13.61, 14.16, 14.13, 14.05, 12.98, 13.6, 13.17, 13.58, 13.35, 12.9, 12.87, 12.06, 10.53, 10.6, 10.42, 26.03]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 28, + "task_plan_idx": 132, + "init_config_idx": 117, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 12, 13, 14, 15], "collision", [175.65, 132.23, 235.69, 238.24, 279.46, 206.78]], [16, "contact", null], [17, "grasped", null], [55, "success", null], [[90], "collision", [96.74]], [91, "lost_success", null], [98, "success", null], [100, "lost_success", null], [101, "success", null], [102, "lost_success", null], [104, "success", null], [105, "lost_success", null], [106, "success", null], [146, "lost_success", null], [150, "success", null], [151, "lost_success", null], [154, "success", null], [157, "lost_success", null], [159, "success", null], [161, "lost_success", null], [162, "success", null], [169, "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": 29, + "task_plan_idx": 114, + "init_config_idx": 76, + "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], [23, "grasped", null], [[37], "collision", [2364.95]], [83, "success", null], [84, "lost_success", null], [96, "success", null], [123, "lost_success", null], [126, "success", null], [134, "lost_success", null], [135, "success", null], [144, "lost_success", null], [146, "success", null], [[161, 162], "collision", [151.81, 82.79]], [163, "lost_success", null], [[163, 164, 165, 166], "collision", [68.35, 72.53, 68.86, 66.61]], [167, "success", null], [[167, 182, 183, 184, 185, 186, 187, 188, 190, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [46.97, 16.11, 24.57, 23.49, 51.16, 3.31, 37.05, 40.04, 24.06, 24.97, 29.24, 38.86, 39.04, 37.16, 35.89, 26.16, 31.77]]], + "articulation_type": "fridge", + "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": 30, + "task_plan_idx": 42, + "init_config_idx": 161, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15], "collision", [126.05]], [20, "contact", null], [21, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [40, "success", null], [49, "lost_success", null], [50, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [58, "success", null], [59, "lost_success", null], [64, "success", null], [69, "lost_success", null], [70, "success", null], [73, "lost_success", null], [74, "success", null], [86, "lost_success", null], [87, "success", null], [93, "lost_success", null], [94, "success", null], [[94], "collision", [95.71]], [95, "lost_success", null], [[97, 98], "collision", [24.76, 12.01]], [100, "success", null], [[102], "collision", [17.91]], [103, "lost_success", null], [140, "success", null], [141, "lost_success", null], [142, "success", null], [151, "lost_success", null], [152, "success", null], [165, "lost_success", null], [176, "success", null], [180, "lost_success", null], [183, "success", null]], + "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": 31, + "task_plan_idx": 74, + "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": [[[3, 5, 6, 7, 8, 9], "collision", [846.92, 320.61, 571.04, 204.06, 209.23, 212.22]], [14, "contact", null], [14, "grasped", null], [[14, 15, 16, 17, 18], "collision", [134.1, 260.99, 20.32, 28.7, 69.22]], [53, "success", null], [54, "lost_success", null], [55, "success", null], [67, "lost_success", null], [74, "success", null], [88, "lost_success", null], [90, "success", null], [127, "lost_success", null], [129, "success", null], [153, "lost_success", null], [154, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 31, + "task_plan_idx": 129, + "init_config_idx": 145, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [[26, 27, 28], "collision", [284.71, 264.07, 70.02]], [34, "success", null], [38, "lost_success", null], [[39, 40, 41, 42, 43], "collision", [674.29, 132.76, 117.85, 51.79, 33.33]], [44, "success", null], [[44], "collision", [27.04]], [45, "lost_success", null], [[45], "collision", [50.95]], [46, "success", null], [[46, 47, 48, 49, 50], "collision", [22.99, 21.86, 49.48, 28.28, 7.82]], [55, "lost_success", null], [57, "success", null], [100, "lost_success", null], [105, "success", null], [[111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126], "collision", [64.83, 67.63, 68.72, 67.07, 57.88, 38.18, 33.12, 36.95, 41.54, 38.43, 52.15, 23.38, 22.36, 29.19, 11.95, 11.16]], [127, "lost_success", null], [129, "success", null], [130, "lost_success", null], [131, "success", null], [136, "lost_success", null], [138, "success", null], [[141], "collision", [13.16]], [150, "lost_success", null], [186, "success", null], [187, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 32, + "task_plan_idx": 53, + "init_config_idx": 134, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[24, 26, 27, 28, 29, 30], "collision", [252.18, 117.98, 330.0, 263.79, 420.15, 420.41]], [31, "contact", null], [[31], "collision", [549.41]], [32, "grasped", null], [[49], "collision", [301.91]], [65, "success", null], [67, "lost_success", null], [101, "success", null], [102, "lost_success", null], [103, "success", null], [106, "lost_success", null], [[122, 123, 124], "collision", [13.81, 12.0, 9.97]], [125, "success", null], [[125, 126, 127, 128, 130, 131, 133, 134], "collision", [7.71, 3.52, 19.14, 14.08, 6.66, 6.69, 5.06, 2.21]], [135, "lost_success", null], [[135], "collision", [2.34]], [136, "success", null], [[137, 138], "collision", [4.27, 2.81]], [143, "lost_success", null], [144, "success", null], [146, "lost_success", null], [147, "success", null], [166, "lost_success", null], [172, "success", null], [[172], "collision", [36.82]], [173, "lost_success", null], [[173], "collision", [6.89]], [174, "success", null], [175, "lost_success", null], [[175, 176, 177, 179, 180, 181, 183], "collision", [5.02, 6.02, 7.93, 12.03, 16.3, 12.51, 19.17]], [191, "success", null]], + "articulation_type": "fridge", + "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": 32, + "task_plan_idx": 134, + "init_config_idx": 64, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [2083.06]], [21, "contact", null], [21, "grasped", null], [36, "success", null], [41, "lost_success", null], [42, "success", null], [[72, 73, 74, 75], "collision", [5.65, 5.46, 5.29, 3.17]], [82, "lost_success", null], [83, "success", null], [131, "lost_success", null], [132, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 32, + "task_plan_idx": 50, + "init_config_idx": 107, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [285.54]], [16, "contact", null], [16, "grasped", null], [31, "success", null], [134, "lost_success", null], [135, "success", null]], + "articulation_type": "fridge", + "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": 33, + "task_plan_idx": 48, + "init_config_idx": 86, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15], "collision", [119.67, 1460.0, 51.31]], [18, "contact", null], [18, "grasped", null], [[22, 23, 24], "collision", [113.61, 142.89, 181.57]], [29, "success", null], [31, "lost_success", null], [[31, 32], "collision", [257.65, 59.36]], [33, "success", null], [[37, 38, 39, 40, 41, 42], "collision", [93.83, 28.69, 68.44, 74.4, 67.99, 21.73]], [141, "lost_success", null], [142, "success", null], [149, "lost_success", null], [150, "success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 176, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [54.41, 25.17, 41.77, 26.51, 31.91, 45.29, 21.66, 22.13, 15.98, 6.96, 32.37, 52.54, 34.67, 61.6, 39.3, 61.44, 40.23, 38.67, 65.39, 60.78, 34.45, 56.7, 40.92, 33.39, 32.76, 25.31, 22.4, 21.08, 19.07, 36.88, 50.47, 49.94, 51.59]]], + "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": 33, + "task_plan_idx": 57, + "init_config_idx": 151, + "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, 13, 14], "collision", [202.38, 192.16, 156.15, 156.45, 300.55]], [15, "contact", null], [[15], "collision", [123.18]], [16, "grasped", null], [[40, 41, 43, 44], "collision", [82.31, 32.07, 40.4, 16.96]], [45, "success", null], [[45, 46], "collision", [2.52, 41.99]], [47, "lost_success", null], [[47], "collision", [25.07]], [53, "success", null], [77, "lost_success", null], [103, "success", null], [116, "lost_success", null], [[199], "collision", [293.87]]], + "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": 34, + "task_plan_idx": 74, + "init_config_idx": 130, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [119.24, 75.96, 70.98]], [11, "contact", null], [[11], "collision", [46.19]], [12, "lost_contact", null], [13, "contact", null], [13, "grasped", null], [[22], "collision", [58.14]], [23, "success", null], [[23], "collision", [56.76]], [24, "lost_success", null], [[24], "collision", [80.57]], [25, "success", null], [[25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [11.21, 11.56, 13.57, 12.95, 14.21, 11.25, 13.16, 17.05, 16.97, 5.24, 0.74, 2.91]], [37, "lost_success", null], [[37, 38, 39, 40, 41, 42, 44, 45, 46, 47, 48, 49, 50, 51, 53, 54, 55, 56, 57], "collision", [2.45, 1.9, 1.29, 2.8, 0.38, 0.9, 1.45, 0.28, 1.14, 0.12, 1.85, 1.71, 2.02, 0.68, 0.38, 45.72, 53.44, 35.97, 6.97]], [59, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [3.26, 8.23, 7.39, 13.32, 11.5, 11.26, 12.43, 3.69, 2.56, 5.3, 11.82, 11.68, 12.88, 13.22, 13.49, 16.65, 18.67, 17.48]], [83, "lost_success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98], "collision", [17.43, 19.69, 13.72, 13.79, 10.52, 8.45, 8.78, 7.45, 5.37, 6.17, 6.84, 5.76, 7.48, 5.88, 4.01, 2.96]], [99, "success", null], [[99], "collision", [2.7]], [100, "lost_success", null], [[100], "collision", [4.56]], [101, "success", null], [[101, 102, 103, 104, 105, 106, 107, 108, 109], "collision", [4.51, 1.68, 6.96, 7.26, 11.36, 14.04, 13.1, 14.67, 15.77]], [110, "lost_success", null], [[110, 111], "collision", [14.16, 14.43]], [112, "success", null], [[112], "collision", [14.94]], [113, "lost_success", null], [[113], "collision", [15.21]], [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], "collision", [12.77, 12.22, 12.49, 10.65, 13.2, 11.84, 9.71, 13.57, 15.65, 16.2, 17.16, 16.17, 18.79, 19.7, 18.81, 19.61, 16.62, 15.84, 15.27, 17.24, 15.67, 16.44, 17.54, 20.31, 18.87, 18.69, 17.47, 16.88, 16.41, 17.36, 17.49, 18.68, 14.44, 9.65, 4.99]], [149, "lost_success", null], [[149], "collision", [3.35]], [150, "success", null], [[150], "collision", [3.38]], [151, "lost_success", null], [[151], "collision", [4.02]], [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, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187], "collision", [4.52, 7.53, 7.19, 8.38, 8.35, 7.78, 7.44, 4.3, 3.49, 2.71, 2.33, 3.7, 3.01, 4.41, 6.59, 7.45, 10.09, 9.79, 12.02, 11.89, 8.61, 5.79, 3.79, 2.72, 1.44, 2.34, 1.82, 4.1, 5.38, 6.28, 11.39, 9.73, 10.66, 6.12, 3.15, 2.54]], [188, "lost_success", null], [[188, 189, 190], "collision", [2.53, 2.25, 2.35]], [191, "success", null], [[191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.07, 4.32, 4.98, 5.61, 3.54, 2.87, 2.89, 2.52, 2.51]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 3, + "init_config_idx": 23, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[26, "contact", null], [26, "grasped", null], [57, "success", null], [183, "lost_success", null], [189, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 159, + "init_config_idx": 71, + "spawn_selection_idx": 29, + "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], [33, "lost_success", null], [34, "success", null], [36, "lost_success", null], [37, "success", null], [[83, 84, 85, 86, 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, 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, 172, 173, 174, 175, 176, 177, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [44.05, 51.4, 41.11, 66.85, 29.16, 89.62, 57.23, 49.2, 86.73, 87.56, 10.23, 46.83, 53.45, 89.87, 36.97, 53.94, 59.65, 33.76, 33.86, 24.83, 24.09, 28.76, 0.09, 46.3, 34.71, 33.59, 43.49, 44.55, 39.48, 52.28, 40.28, 71.27, 42.25, 31.53, 25.42, 42.9, 39.8, 42.8, 46.86, 42.71, 8.81, 46.01, 45.84, 21.97, 45.4, 37.99, 34.94, 53.65, 43.63, 15.67, 38.45, 22.55, 28.66, 24.95, 32.49, 19.78, 25.1, 32.35, 22.61, 21.77, 18.74, 19.81, 10.96, 31.36, 25.6, 28.27, 39.9, 45.52, 26.85, 17.24, 15.95, 4.18, 50.28, 41.44, 27.33, 14.61, 16.27, 9.11, 41.9, 35.49, 35.74, 31.66, 36.28, 40.0, 18.18, 33.64, 33.13, 42.74, 28.41, 46.62, 33.57, 36.41, 54.1, 31.69, 8.03, 18.51, 49.55, 24.94, 7.46, 14.23, 16.35, 24.98, 20.15, 6.0, 15.29, 47.22, 18.54, 8.26, 32.05, 15.24, 32.1, 6.43]]], + "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": 37, + "task_plan_idx": 0, + "init_config_idx": 67, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [2.61]], [21, "contact", null], [21, "grasped", null], [[39, 40, 41, 42], "collision", [79.99, 21.72, 56.76, 46.11]], [43, "success", null], [[43], "collision", [45.59]], [44, "lost_success", null], [[44], "collision", [17.05]], [45, "success", null], [[45, 46, 47, 48, 49, 50, 51, 52, 53], "collision", [23.55, 18.5, 15.7, 45.71, 33.82, 22.94, 30.77, 34.17, 42.03]], [54, "lost_success", null], [[54, 61, 69], "collision", [30.65, 1.06, 0.59]], [159, "success", null], [162, "lost_success", null], [164, "success", null], [181, "lost_success", null], [182, "success", null], [187, "lost_success", null], [188, "success", null], [189, "lost_success", null], [190, "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": 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": 38, + "task_plan_idx": 6, + "init_config_idx": 139, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 15, 16], "collision", [352.71, 231.93, 217.45, 132.32, 161.7, 95.65]], [18, "contact", null], [[18, 19], "collision", [126.61, 66.5]], [20, "grasped", null], [42, "success", null], [93, "lost_success", null], [96, "success", null], [119, "lost_success", null], [121, "success", null], [129, "lost_success", null], [130, "success", null], [151, "lost_success", null], [152, "success", null], [155, "lost_success", null], [160, "success", null], [164, "lost_success", null], [165, "success", null], [173, "lost_success", null], [175, "success", null], [182, "lost_success", null], [183, "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": 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": 38, + "task_plan_idx": 85, + "init_config_idx": 63, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [565.19, 190.62, 158.28]], [16, "contact", null], [16, "grasped", null], [30, "success", null], [58, "lost_success", null], [59, "success", null], [99, "lost_success", null], [100, "success", null], [103, "lost_success", null], [105, "success", null], [142, "lost_success", null], [143, "success", null], [165, "lost_success", null], [167, "success", null], [172, "lost_success", null], [175, "success", null], [183, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "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": 38, + "task_plan_idx": 98, + "init_config_idx": 23, + "spawn_selection_idx": 6, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18, 21], "collision", [115.93, 1093.17, 821.8]], [22, "contact", null], [22, "grasped", null], [56, "success", null], [63, "lost_success", null], [64, "success", null], [117, "lost_success", null], [125, "success", null], [132, "lost_success", null], [134, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 39, + "task_plan_idx": 123, + "init_config_idx": 58, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16], "collision", [163.36, 107.72, 108.03]], [19, "contact", null], [[19], "collision", [652.37]], [20, "grasped", null], [[21, 44, 45], "collision", [12.22, 123.85, 206.97]], [52, "success", null], [54, "lost_success", null], [[77, 78, 79], "collision", [165.88, 3.07, 115.66]], [80, "success", null], [[80], "collision", [49.22]], [81, "lost_success", null], [84, "success", null], [85, "lost_success", null], [116, "success", null], [122, "lost_success", null], [140, "success", null], [143, "lost_success", null], [147, "success", null], [150, "lost_success", null], [153, "success", null], [167, "lost_success", null], [168, "success", null], [169, "lost_success", null], [181, "success", null], [183, "lost_success", null], [185, "success", null], [186, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 39, + "task_plan_idx": 79, + "init_config_idx": 119, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[13, "contact", null], [13, "grasped", null], [26, "success", null], [56, "lost_success", null], [63, "success", null], [71, "lost_success", null], [92, "success", null], [93, "lost_success", null], [95, "success", null], [96, "lost_success", null], [97, "success", null], [98, "lost_success", null], [102, "success", null], [104, "lost_success", null], [107, "success", null], [153, "lost_success", null], [172, "success", null], [187, "lost_success", null], [188, "success", null], [[192, 193], "collision", [135.22, 74.05]], [194, "lost_success", null], [[194, 195, 196, 197], "collision", [75.91, 79.16, 84.83, 75.26]], [198, "success", null], [199, "lost_success", null], [[199], "collision", [61.04]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 39, + "task_plan_idx": 75, + "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": [[[14, 15, 16, 17, 18], "collision", [91.62, 86.33, 133.37, 24.86, 917.66]], [19, "contact", null], [20, "grasped", null], [[37, 41, 42], "collision", [18.27, 57.64, 94.3]], [43, "success", null], [[43], "collision", [67.96]], [44, "lost_success", null], [[44, 45], "collision", [43.38, 53.56]], [46, "success", null], [[46], "collision", [50.57]], [56, "lost_success", null], [57, "success", null], [58, "lost_success", null], [61, "success", null], [64, "lost_success", null], [65, "success", null], [74, "lost_success", null], [89, "success", null], [90, "lost_success", null], [105, "success", null], [107, "lost_success", null], [109, "success", null], [110, "lost_success", null], [172, "success", null], [179, "lost_success", null], [183, "success", null], [185, "lost_success", null], [188, "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": 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": 39, + "task_plan_idx": 27, + "init_config_idx": 139, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [0.72]], [15, "contact", null], [[15], "collision", [36.83]], [18, "lost_contact", null], [[18], "collision", [187.13]], [19, "contact", null], [20, "grasped", null], [[20, 21], "collision", [195.47, 112.88]], [61, "success", null], [70, "lost_success", null], [72, "success", null], [75, "lost_success", null], [77, "success", null], [92, "lost_success", null], [93, "success", null], [117, "lost_success", null], [118, "success", null], [128, "lost_success", null], [130, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 40, + "task_plan_idx": 82, + "init_config_idx": 22, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [417.48, 169.66]], [19, "contact", null], [20, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 27, 28], "collision", [9.98, 4.12, 12.25, 52.5, 44.07, 34.7, 33.49, 34.79, 51.4]], [70, "success", null], [79, "lost_success", null], [80, "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": 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": 40, + "task_plan_idx": 76, + "init_config_idx": 105, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9], "collision", [546.23, 310.09, 138.46]], [11, "contact", null], [11, "grasped", null], [25, "success", null]], + "articulation_type": "fridge", + "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": 40, + "task_plan_idx": 70, + "init_config_idx": 116, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [2532.95, 69.25]], [20, "contact", null], [20, "grasped", null], [36, "success", null], [47, "lost_success", null], [48, "success", null], [147, "lost_success", null], [148, "success", null], [149, "lost_success", null], [150, "success", null], [152, "lost_success", null], [166, "success", null], [167, "lost_success", null], [168, "success", null], [169, "lost_success", null], [170, "success", null], [173, "lost_success", null], [174, "success", null], [180, "lost_success", null], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 41, + "task_plan_idx": 153, + "init_config_idx": 65, + "spawn_selection_idx": 72, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[40, 41, 42, 43, 44, 45, 46], "collision", [32.06, 31.3, 30.78, 2.41, 29.94, 56.53, 36.1]], [47, "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, 72, 73], "collision", [38.89, 37.01, 34.38, 36.35, 36.66, 42.67, 23.44, 29.63, 30.44, 28.38, 25.72, 26.25, 36.08, 38.66, 41.48, 26.23, 38.19, 39.39, 41.09, 41.93, 27.52, 35.3, 31.22, 27.07, 22.63, 19.98, 10.26]], [77, "lost_success", null], [[77], "collision", [0.54]], [95, "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": 41, + "task_plan_idx": 153, + "init_config_idx": 65, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [[26, 27], "collision", [1.18, 0.3]], [46, "success", null], [47, "lost_success", null], [49, "success", null], [75, "lost_success", null], [76, "success", null], [88, "lost_success", null], [89, "success", null], [94, "lost_success", null], [95, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 42, + "task_plan_idx": 25, + "init_config_idx": 150, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [206.21]], [18, "contact", null], [18, "grasped", null], [[18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30], "collision", [165.83, 153.48, 123.46, 127.56, 79.4, 69.55, 67.36, 24.81, 18.92, 20.27, 15.93, 16.53, 16.38]], [31, "success", null], [[31], "collision", [14.26]], [32, "lost_success", null], [[32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42], "collision", [15.03, 16.0, 16.63, 14.85, 16.1, 15.99, 14.35, 17.08, 17.77, 17.62, 17.2]], [43, "success", null], [[43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [16.67, 17.06, 16.2, 17.15, 17.2, 15.4, 14.9, 14.71, 14.57]], [52, "lost_success", null], [[52, 53, 54, 55, 56, 57, 58, 59], "collision", [14.66, 14.91, 16.72, 16.35, 16.36, 17.49, 17.43, 16.34]], [60, "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], "collision", [16.47, 16.12, 16.88, 16.39, 17.6, 16.76, 16.85, 17.22, 17.26, 16.9, 17.55, 16.77, 17.18, 17.08, 17.27, 17.24, 16.75, 15.85, 16.52, 15.88, 15.83, 15.78, 17.32, 17.43, 14.06, 14.81, 15.21]], [87, "lost_success", null], [[87, 88], "collision", [17.61, 15.41]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [17.04, 16.92, 16.73, 16.27, 16.01, 16.57, 16.28, 15.52, 14.84, 16.07, 15.67]], [100, "lost_success", null], [[100, 101], "collision", [15.67, 17.16]], [102, "success", null], [[102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117], "collision", [17.48, 17.57, 17.13, 17.13, 15.89, 15.96, 15.56, 13.75, 14.91, 14.09, 14.25, 14.71, 16.18, 15.33, 8.67, 7.71]], [118, "lost_success", null], [[118], "collision", [6.0]], [119, "success", null], [[119, 120, 121, 122], "collision", [8.74, 9.6, 9.25, 8.72]], [123, "lost_success", null], [[123], "collision", [4.44]], [124, "success", null], [[124], "collision", [4.78]], [125, "lost_success", null], [[125, 126, 127, 128, 129, 130, 131], "collision", [3.1, 2.72, 3.08, 1.63, 2.88, 4.55, 3.04]], [132, "success", null], [[132], "collision", [2.08]], [133, "lost_success", null], [[133], "collision", [1.76]], [134, "success", null], [[134, 135, 136, 137, 138], "collision", [1.06, 1.77, 4.78, 2.58, 2.76]], [139, "lost_success", null], [[139], "collision", [3.83]], [140, "success", null], [[140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150], "collision", [1.88, 3.11, 289.62, 3.59, 3.47, 2.05, 3.0, 50.69, 2.96, 23.31, 3.4]], [151, "lost_success", null], [[151], "collision", [166.94]], [152, "success", null], [[152], "collision", [96.85]], [153, "lost_success", null], [[153], "collision", [13.4]], [154, "success", null], [[154, 155], "collision", [17.27, 42.33]], [156, "lost_success", null], [[156], "collision", [168.29]], [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, 193, 194, 195, 196, 197, 198, 199], "collision", [9.8, 3.56, 3.57, 2.73, 2.67, 10.24, 3.38, 3.67, 3.88, 3.38, 2.82, 2.91, 48.59, 7.75, 18.0, 34.78, 26.86, 4.97, 16.82, 4.95, 28.72, 5.37, 34.07, 37.13, 33.18, 4.98, 9.33, 5.16, 11.3, 4.25, 4.5, 73.61, 4.44, 4.84, 134.92, 4.55, 150.56, 17.11, 63.91, 59.64, 55.34, 54.14, 104.5]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 42, + "task_plan_idx": 37, + "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": [[[10], "collision", [932.39]], [15, "contact", null], [15, "grasped", null], [32, "success", null], [[35, 36, 37, 38, 39, 40, 41, 42, 44, 45], "collision", [221.72, 271.67, 223.8, 170.71, 169.56, 130.25, 142.48, 95.8, 45.63, 61.11]], [50, "lost_success", null], [55, "success", null], [59, "lost_success", null], [60, "success", null], [64, "lost_success", null], [65, "success", null], [66, "lost_success", null], [69, "success", null], [70, "lost_success", null], [71, "success", null], [100, "lost_success", null], [103, "success", null], [144, "lost_success", null], [145, "success", null], [146, "lost_success", null], [150, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 42, + "task_plan_idx": 54, + "init_config_idx": 87, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [612.41]], [16, "contact", null], [17, "grasped", null], [39, "success", null], [42, "lost_success", null], [61, "success", null], [71, "lost_success", null], [72, "success", null], [96, "lost_success", null], [98, "success", null], [99, "lost_success", null], [104, "success", null], [112, "lost_success", null], [115, "success", null], [116, "lost_success", null], [118, "success", null], [121, "lost_success", null], [125, "success", null], [128, "lost_success", null], [136, "success", null], [141, "lost_success", null], [155, "success", null], [164, "lost_success", null], [165, "success", null], [166, "lost_success", null], [171, "success", null], [180, "lost_success", null], [186, "success", null], [[188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [50.4, 47.81, 18.88, 68.03, 81.64, 80.98, 77.97, 67.38, 64.86, 99.5, 72.5, 84.73]]], + "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": 43, + "task_plan_idx": 65, + "init_config_idx": 64, + "spawn_selection_idx": 58, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [30, "success", null], [31, "lost_success", null], [37, "success", null], [52, "lost_success", null], [53, "success", null], [[53, 54, 55, 56, 57, 61, 62, 63, 64, 65, 66, 67], "collision", [19.87, 31.64, 26.93, 9.9, 14.34, 12.06, 47.35, 37.86, 10.99, 64.18, 18.77, 11.98]], [69, "lost_success", null], [70, "success", null], [[70], "collision", [12.87]], [71, "lost_success", null], [[71], "collision", [27.77]], [72, "success", null], [[72, 73], "collision", [25.11, 30.65]], [137, "lost_success", null], [146, "success", null], [153, "lost_success", null], [172, "success", null], [173, "lost_success", null], [176, "success", null], [181, "lost_success", null], [182, "success", null], [193, "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": 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": 43, + "task_plan_idx": 112, + "init_config_idx": 114, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [[17], "collision", [1658.23]], [18, "grasped", null], [36, "success", null], [194, "lost_success", null], [195, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 43, + "task_plan_idx": 114, + "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": [[14, "contact", null], [15, "grasped", null], [[22], "collision", [2.15]], [29, "success", null], [[76, 77, 78, 85, 86, 87, 88, 89, 90, 91, 92, 93, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [15.39, 15.76, 30.34, 18.21, 12.27, 5.17, 35.6, 18.02, 52.24, 40.03, 66.54, 34.84, 89.34, 45.25, 43.64, 61.82, 47.17, 56.48, 38.87, 45.52, 37.52]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 97, + "init_config_idx": 11, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [372.16, 296.53]], [19, "contact", null], [19, "grasped", null], [43, "success", null], [47, "lost_success", null], [57, "success", null], [59, "lost_success", null], [60, "success", null], [63, "lost_success", null], [64, "success", null], [[71, 72, 73, 74, 75, 76, 77, 78, 80], "collision", [13.9, 56.43, 45.66, 57.93, 56.08, 48.02, 33.52, 38.6, 33.83]], [81, "lost_success", null], [[81], "collision", [20.39]], [82, "success", null], [[82, 83, 84, 85, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 104, 105, 106], "collision", [33.28, 24.98, 25.27, 35.34, 17.32, 44.31, 43.08, 57.67, 59.41, 58.3, 65.25, 70.92, 69.82, 80.06, 78.93, 71.87, 72.79, 65.35, 70.3, 64.21, 49.7, 78.07, 83.77]], [107, "lost_success", null], [[107], "collision", [85.39]], [108, "success", null], [[108, 109, 110, 111, 112, 113, 114, 116], "collision", [87.18, 138.31, 123.09, 1.56, 73.9, 106.39, 99.21, 21.44]], [117, "lost_success", null], [[117, 122, 123, 124, 125, 126, 127, 128, 129], "collision", [14.57, 61.75, 8.42, 15.27, 25.02, 28.51, 33.85, 30.77, 31.13]], [130, "success", null], [[130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140], "collision", [37.7, 33.78, 37.26, 31.54, 24.15, 14.38, 27.0, 20.96, 20.78, 34.89, 27.95]], [141, "lost_success", null], [[141, 142, 143], "collision", [18.8, 46.88, 33.49]], [144, "success", null], [[144, 145, 146, 147, 148, 149, 150, 151], "collision", [43.17, 58.44, 75.43, 57.58, 44.78, 29.18, 51.42, 15.56]], [152, "lost_success", null], [153, "success", null], [154, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 154, + "init_config_idx": 83, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10], "collision", [16.35, 205.79, 234.5, 530.0]], [15, "contact", null], [[15], "collision", [737.15]], [16, "grasped", null], [[18, 19, 20, 21], "collision", [13.7, 16.27, 12.69, 32.65]], [35, "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": 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": 43, + "init_config_idx": 92, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 20], "collision", [353.03, 168.91, 110.71]], [21, "contact", null], [21, "grasped", null], [43, "success", null], [44, "lost_success", null], [78, "success", null], [82, "lost_success", null], [120, "success", null], [122, "lost_success", null], [123, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 46, + "task_plan_idx": 11, + "init_config_idx": 127, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 10, 11, 12, 13], "collision", [570.87, 592.3, 577.34, 535.6, 467.22, 406.71]], [25, "contact", null], [25, "grasped", null], [61, "success", null], [62, "lost_success", null], [63, "success", null], [98, "lost_success", null], [99, "success", null], [109, "lost_success", null], [110, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 46, + "task_plan_idx": 111, + "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": [[[13, 14, 17], "collision", [125.7, 875.0, 389.19]], [18, "contact", null], [21, "grasped", null], [41, "success", null], [75, "lost_success", null], [79, "success", null], [80, "lost_success", null], [81, "success", null]], + "articulation_type": "fridge", + "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": 47, + "task_plan_idx": 107, + "init_config_idx": 128, + "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, 11, 12, 13], "collision", [27.81, 159.0, 149.87, 290.83, 386.46, 342.99, 56.65]], [15, "contact", null], [15, "grasped", null], [35, "success", null], [38, "lost_success", null], [39, "success", null], [40, "lost_success", null], [45, "success", null], [46, "lost_success", null], [47, "success", null], [48, "lost_success", null], [50, "success", null], [[155, 156, 157, 159, 160, 161, 162, 163, 164], "collision", [4.33, 70.04, 11.85, 76.33, 21.66, 29.74, 21.19, 38.97, 16.34]], [165, "lost_success", null], [[165], "collision", [31.29]], [166, "success", null], [168, "lost_success", null], [169, "success", null], [[169], "collision", [19.64]], [171, "lost_success", null], [[172], "collision", [20.02]], [173, "success", null], [174, "lost_success", null], [[174], "collision", [3.26]], [175, "success", null], [176, "lost_success", null], [178, "success", null], [[178, 179, 180, 181, 183, 184, 185, 188], "collision", [10.52, 9.87, 14.84, 19.89, 27.65, 47.34, 9.65, 24.62]], [196, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "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": 47, + "task_plan_idx": 118, + "init_config_idx": 114, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 14], "collision", [547.14, 112.2, 60.81]], [17, "contact", null], [17, "grasped", null], [36, "success", null], [37, "lost_success", null], [39, "success", null], [43, "lost_success", null], [53, "success", null], [58, "lost_success", null], [69, "success", null], [76, "lost_success", null], [78, "success", null], [124, "lost_success", null], [130, "success", null], [147, "lost_success", null], [148, "success", null], [152, "lost_success", null], [153, "success", null], [156, "lost_success", null], [158, "success", null], [171, "lost_success", null], [172, "success", null], [186, "lost_success", null], [187, "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": 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": 32, + "init_config_idx": 128, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15, 16, 17], "collision", [6.13, 174.54, 124.12, 112.33, 218.09]], [19, "contact", null], [23, "grasped", null], [[23, 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], "collision", [24.04, 25.35, 20.55, 25.0, 15.52, 18.83, 21.04, 10.55, 10.09, 9.57, 9.27, 8.32, 8.17, 5.62, 4.94, 8.55, 7.81, 7.86, 4.53, 8.85, 7.14, 6.89, 7.84, 23.52, 22.06, 22.16, 309.46, 7.43, 8.35, 8.36, 8.15, 8.24, 213.93]], [58, "success", null], [[58, 59, 60], "collision", [8.21, 8.43, 7.85]], [61, "lost_success", null], [[61, 62, 63, 64, 65], "collision", [8.58, 7.77, 8.21, 170.56, 7.86]], [66, "success", null], [[66], "collision", [8.43]], [67, "lost_success", null], [[67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80], "collision", [8.42, 7.97, 8.28, 7.83, 7.81, 8.21, 7.88, 8.03, 7.82, 8.11, 7.67, 7.93, 8.15, 8.3]], [81, "success", null], [[81, 82, 83, 84, 85, 86], "collision", [8.25, 8.21, 7.84, 8.13, 8.13, 8.15]], [87, "lost_success", null], [[87], "collision", [8.09]], [88, "success", null], [[88, 89, 90, 91, 92], "collision", [8.02, 7.78, 8.08, 7.97, 7.54]], [93, "lost_success", null], [[93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107], "collision", [7.94, 8.2, 7.81, 7.9, 8.11, 8.15, 8.18, 7.39, 7.94, 7.88, 7.97, 7.69, 7.62, 8.0, 7.39]], [108, "success", null], [[108, 109, 110, 111, 112], "collision", [7.59, 7.72, 7.72, 7.19, 7.6]], [113, "lost_success", null], [[113, 114], "collision", [7.39, 7.47]], [115, "success", null], [[115], "collision", [7.42]], [116, "lost_success", null], [[116, 117, 118, 119, 120, 121, 122, 123, 124], "collision", [7.0, 8.57, 8.57, 7.5, 6.83, 8.05, 7.48, 7.61, 7.78]], [125, "success", null], [[125, 126, 127, 128, 129, 130, 131], "collision", [7.38, 7.67, 7.62, 7.79, 7.56, 7.44, 7.55]], [132, "lost_success", null], [[132, 133, 134, 135], "collision", [7.64, 7.67, 7.43, 7.61]], [136, "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], "collision", [7.67, 7.48, 7.57, 7.41, 7.6, 7.57, 7.71, 7.57, 7.68, 7.73, 7.69, 8.09, 7.94, 8.02, 4.65, 4.91, 4.96, 4.64, 8.67, 8.98, 8.34, 8.22, 8.35, 8.14]], [160, "lost_success", null], [[160, 161, 162], "collision", [8.1, 4.13, 4.62]], [163, "success", null], [[163, 164, 165, 166], "collision", [8.77, 8.68, 8.7, 8.56]], [167, "lost_success", null], [[167, 168, 169], "collision", [8.04, 7.56, 8.56]], [170, "success", null], [[170], "collision", [8.02]], [171, "lost_success", null], [[171, 172, 173, 174, 175, 176, 177, 178], "collision", [8.41, 8.47, 7.65, 8.08, 7.91, 7.9, 8.46, 7.41]], [179, "success", null], [[179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191], "collision", [7.35, 7.84, 7.52, 7.97, 7.95, 8.12, 8.3, 8.19, 8.14, 8.38, 8.4, 7.96, 7.94]], [192, "lost_success", null], [[192], "collision", [8.13]], [193, "success", null], [[193, 194], "collision", [8.15, 8.15]], [195, "lost_success", null], [[195, 196, 197, 198, 199], "collision", [8.43, 8.08, 8.03, 4.63, 8.29]]], + "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": 48, + "task_plan_idx": 13, + "init_config_idx": 2, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10, 11, 12], "collision", [188.71, 257.75, 259.13, 225.6, 284.49]], [16, "contact", null], [16, "grasped", null], [32, "success", null], [35, "lost_success", null], [36, "success", null], [39, "lost_success", null], [48, "success", null], [58, "lost_success", null], [62, "success", null], [74, "lost_success", null], [75, "success", null], [[124, 125], "collision", [48.79, 2.4]], [126, "lost_success", null], [[126], "collision", [280.92]], [127, "success", null], [[127, 128, 129, 130, 131, 132, 135], "collision", [124.97, 109.85, 0.87, 146.91, 118.6, 126.91, 40.87]], [136, "lost_success", null], [[136, 137, 138, 141, 142, 143, 144, 145, 146, 147], "collision", [115.87, 82.46, 82.16, 278.07, 50.25, 35.34, 16.57, 64.97, 64.31, 32.94]], [148, "success", null], [158, "lost_success", null], [159, "success", null], [[174, 175, 176], "collision", [47.5, 13.2, 25.82]], [188, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [194, "lost_success", null]], + "articulation_type": "fridge", + "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": 48, + "task_plan_idx": 16, + "init_config_idx": 123, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 17], "collision", [0.26, 168.81, 4.34, 91.78, 26.41]], [20, "contact", null], [21, "grasped", null], [[23, 24, 25], "collision", [0.77, 1.08, 0.27]], [43, "success", null], [70, "lost_success", null], [75, "success", null], [115, "lost_success", null], [116, "success", null], [120, "lost_success", null], [121, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 49, + "task_plan_idx": 70, + "init_config_idx": 92, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [1423.73]], [22, "contact", null], [22, "grasped", null], [45, "success", null], [49, "lost_success", null], [50, "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], [97, "lost_success", null], [99, "success", null], [103, "lost_success", null], [106, "success", null], [108, "lost_success", null], [109, "success", null], [111, "lost_success", null], [112, "success", null], [122, "lost_success", null], [123, "success", null], [146, "lost_success", null], [147, "success", null], [148, "lost_success", null], [156, "success", null], [159, "lost_success", null], [164, "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": 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": 49, + "task_plan_idx": 31, + "init_config_idx": 61, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [150.95]], [26, "contact", null], [26, "grasped", null], [[27, 28, 29], "collision", [28.08, 32.33, 5.05]], [52, "success", null], [54, "lost_success", null], [55, "success", null], [63, "lost_success", null], [126, "success", null], [154, "lost_success", null], [155, "success", null], [175, "lost_success", null], [177, "success", null], [[179], "collision", [1165.95]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 49, + "task_plan_idx": 36, + "init_config_idx": 106, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [1.94]], [18, "contact", null], [19, "grasped", null], [33, "success", null], [34, "lost_success", null], [36, "success", null], [50, "lost_success", null], [53, "success", null], [84, "lost_success", null], [85, "success", null], [88, "lost_success", null], [89, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 49, + "task_plan_idx": 110, + "init_config_idx": 131, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 16], "collision", [734.52, 177.97]], [19, "contact", null], [19, "grasped", null], [40, "success", null], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [52, "lost_success", null], [53, "success", null], [72, "lost_success", null], [73, "success", null], [75, "lost_success", null], [81, "success", null], [83, "lost_success", null], [91, "success", null], [92, "lost_success", null], [93, "success", null], [97, "lost_success", null], [98, "success", null], [131, "lost_success", null], [132, "success", null], [145, "lost_success", null], [151, "success", null], [173, "lost_success", null], [174, "success", null], [177, "lost_success", null], [185, "success", null], [187, "lost_success", null], [188, "success", null], [189, "lost_success", null], [190, "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": 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": 50, + "task_plan_idx": 108, + "init_config_idx": 122, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 14, 15, 19], "collision", [333.39, 135.41, 160.47, 2404.13]], [20, "contact", null], [20, "grasped", null], [[20], "collision", [0.19]], [44, "success", null], [45, "lost_success", null], [46, "success", null], [52, "lost_success", null], [53, "success", null], [91, "lost_success", null], [94, "success", null], [95, "lost_success", null], [102, "success", null], [[104, 105, 106, 107, 108, 109], "collision", [59.25, 21.24, 32.31, 35.45, 12.57, 6.04]], [127, "lost_success", null], [131, "success", null], [142, "lost_success", null], [148, "success", null], [149, "lost_success", null], [153, "success", null]], + "articulation_type": "fridge", + "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": 51, + "task_plan_idx": 65, + "init_config_idx": 5, + "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], [15, "grasped", null], [[20, 21], "collision", [13.91, 35.21]], [30, "success", null], [31, "lost_success", null], [[34, 35, 36, 37, 38], "collision", [712.39, 283.3, 90.14, 48.45, 75.78]], [40, "success", null], [57, "lost_success", null], [70, "success", null], [75, "lost_success", null], [83, "success", null], [97, "lost_success", null], [103, "success", null], [120, "lost_success", null], [135, "success", null], [152, "lost_success", null], [159, "success", null], [177, "lost_success", null], [178, "success", null], [182, "lost_success", null], [185, "success", null], [186, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 53, + "task_plan_idx": 128, + "init_config_idx": 146, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 6, 7, 8, 9, 10], "collision", [1288.55, 1652.43, 552.32, 530.55, 498.64, 169.73]], [14, "contact", null], [15, "grasped", null], [40, "success", null], [61, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [80, "success", null], [86, "lost_success", null], [87, "success", null], [100, "lost_success", null], [101, "success", null], [102, "lost_success", null], [115, "success", null], [135, "lost_success", null], [141, "success", null], [156, "lost_success", null], [160, "success", null], [161, "lost_success", null], [[161], "collision", [24.58]], [163, "success", null], [[163], "collision", [10.56]], [164, "lost_success", null], [165, "success", null], [167, "lost_success", null], [168, "success", null], [169, "lost_success", null], [170, "success", null], [176, "lost_success", null], [[176], "collision", [72.47]], [177, "success", null], [[178, 180], "collision", [68.5, 75.68]], [184, "lost_success", null], [185, "success", null], [187, "lost_success", null], [189, "success", null], [[198], "collision", [39.97]]], + "articulation_type": "fridge", + "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": 55, + "task_plan_idx": 125, + "init_config_idx": 76, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[23, "contact", null], [23, "grasped", null], [46, "success", null], [54, "lost_success", null], [59, "success", null], [60, "lost_success", null], [61, "success", null], [62, "lost_success", null], [67, "success", null], [68, "lost_success", null], [83, "success", null], [87, "lost_success", null], [89, "success", null], [[94, 95, 96, 97, 99, 100, 101, 102, 103, 104, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115], "collision", [23.81, 28.59, 17.14, 43.06, 51.9, 47.49, 36.11, 48.01, 40.62, 58.03, 50.6, 85.78, 59.33, 45.28, 48.81, 64.48, 40.1, 94.35, 37.1, 22.42]], [116, "lost_success", null], [[116, 117, 118, 120], "collision", [38.68, 49.45, 36.28, 18.56]], [158, "success", null], [160, "lost_success", null], [[160, 163, 164, 165, 166], "collision", [210.77, 35.6, 35.93, 36.84, 34.97]], [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], "collision", [27.64, 33.0, 33.48, 32.91, 32.05, 34.07, 32.83, 32.04, 31.26, 34.9, 35.8, 582.85, 21.37, 178.54, 68.34, 62.12, 147.58, 74.08, 97.87, 68.11, 95.17, 74.11, 98.68, 30.91, 96.84, 66.69, 52.62, 110.06, 94.85]], [196, "lost_success", null], [[196], "collision", [57.71]], [197, "success", null], [[197], "collision", [56.39]], [198, "lost_success", null], [[198, 199], "collision", [30.16, 94.02]]], + "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": 55, + "task_plan_idx": 101, + "init_config_idx": 51, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 18, 21, 23], "collision", [404.36, 195.15, 245.19, 83.52]], [25, "contact", null], [[25], "collision", [685.85]], [26, "grasped", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [58, "lost_success", null], [[58, 59, 60, 61, 62, 63, 64, 65, 66, 67], "collision", [50.33, 71.49, 36.02, 45.37, 51.04, 28.41, 29.54, 27.54, 19.8, 15.81]], [68, "success", null], [[68, 69], "collision", [31.67, 1.89]], [70, "lost_success", null], [[70], "collision", [0.48]], [71, "success", null], [[71, 72, 73], "collision", [6.36, 34.82, 123.03]], [74, "lost_success", null], [77, "success", null], [80, "lost_success", null], [81, "success", null], [84, "lost_success", null], [85, "success", null], [91, "lost_success", null], [92, "success", null], [94, "lost_success", null], [96, "success", null], [112, "lost_success", null], [113, "success", null], [114, "lost_success", null], [115, "success", null], [116, "lost_success", null], [117, "success", null], [123, "lost_success", null], [124, "success", null], [132, "lost_success", null], [133, "success", null], [137, "lost_success", null], [138, "success", null], [157, "lost_success", null], [159, "success", null], [160, "lost_success", null], [161, "success", null], [163, "lost_success", null], [164, "success", null], [165, "lost_success", null], [166, "success", null], [169, "lost_success", null], [170, "success", null], [[180, 181, 182], "collision", [49.39, 44.86, 101.76]], [184, "lost_success", null], [185, "success", null], [186, "lost_success", null], [188, "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": 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": 56, + "task_plan_idx": 112, + "init_config_idx": 32, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 20], "collision", [222.94, 50.59]], [21, "contact", null], [21, "grasped", null], [[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, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60], "collision", [21.59, 18.83, 18.55, 28.09, 16.73, 14.77, 14.89, 14.28, 15.06, 24.5, 28.58, 27.62, 23.06, 29.69, 28.62, 28.09, 28.28, 28.48, 27.4, 25.62, 27.16, 27.14, 26.84, 25.64, 26.07, 28.44, 24.95, 28.26, 28.69, 26.7, 28.57, 26.14, 27.45, 27.11, 26.86, 27.29, 27.06, 26.35, 26.48, 26.27]], [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, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98], "collision", [26.46, 27.2, 26.98, 27.03, 26.87, 27.02, 26.8, 26.47, 26.16, 27.87, 27.72, 26.75, 26.01, 27.09, 25.28, 24.86, 27.07, 24.91, 25.71, 27.86, 23.5, 23.8, 23.81, 24.16, 23.8, 25.03, 24.22, 24.58, 24.96, 25.53, 25.17, 25.56, 24.36, 25.23, 25.56, 25.1, 25.64, 25.49]], [99, "lost_success", null], [[99], "collision", [27.54]], [100, "success", null], [[100, 101, 102, 103], "collision", [24.02, 25.31, 24.99, 25.9]], [104, "lost_success", null], [[104], "collision", [25.21]], [105, "success", null], [[105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123], "collision", [25.5, 24.4, 25.42, 24.49, 24.98, 24.4, 25.08, 25.09, 24.65, 24.53, 24.49, 25.51, 26.38, 26.25, 25.77, 25.78, 26.76, 26.52, 28.66]], [124, "lost_success", null], [[124, 125, 126, 127, 128], "collision", [27.82, 28.36, 27.38, 23.18, 23.25]], [129, "success", null], [[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], "collision", [24.19, 24.44, 25.04, 25.61, 24.96, 25.37, 24.36, 24.66, 25.63, 25.58, 25.78, 25.97, 24.88, 24.81, 24.51, 25.58, 26.16, 25.71, 25.27, 24.76, 24.5, 24.99, 26.11, 27.15, 25.14, 25.98, 25.76, 26.14, 27.09, 25.66, 25.57, 26.05]], [161, "lost_success", null], [[161, 162, 163, 164], "collision", [29.26, 26.47, 27.08, 23.33]], [165, "success", null], [[165, 166, 167, 168, 169, 170, 171, 172, 173], "collision", [24.55, 24.98, 25.31, 23.92, 25.68, 24.16, 23.99, 25.09, 26.69]], [174, "lost_success", null], [[174], "collision", [25.79]], [175, "success", null], [[175], "collision", [27.25]], [176, "lost_success", null], [[176, 177, 178], "collision", [28.38, 28.09, 25.43]], [179, "success", null], [[179, 180, 181, 182, 183], "collision", [22.57, 23.52, 24.56, 24.64, 25.34]], [184, "lost_success", null], [[184], "collision", [23.79]], [185, "success", null], [[185], "collision", [25.3]], [186, "lost_success", null], [[186, 187, 188, 189, 190], "collision", [24.41, 24.28, 23.78, 25.15, 23.93]], [191, "success", null], [[191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [24.42, 24.66, 26.35, 25.77, 25.0, 25.33, 26.24, 25.7, 27.61]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 56, + "task_plan_idx": 49, + "init_config_idx": 68, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[38], "collision", [66.95]], [44, "success", null], [[77, 82], "collision", [327.95, 247.59]], [83, "lost_success", null], [85, "success", null], [[93, 101, 102, 104, 105, 106], "collision", [179.24, 35.49, 173.04, 26.1, 99.09, 142.34]], [107, "lost_success", null], [108, "success", null], [110, "lost_success", null], [112, "success", null], [[115, 116, 117, 118, 119, 120, 121, 122, 123, 124], "collision", [227.92, 98.71, 41.84, 77.56, 65.08, 37.66, 64.62, 77.09, 138.63, 87.44]], [125, "lost_success", null], [126, "success", null], [132, "lost_success", null], [133, "success", null], [[139], "collision", [579.69]], [147, "lost_success", null], [148, "success", null], [152, "lost_success", null], [153, "success", null], [[160, 162, 164, 165, 197, 198, 199], "collision", [9.26, 359.36, 172.39, 18.14, 119.77, 111.47, 24.35]]], + "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": 58, + "task_plan_idx": 133, + "init_config_idx": 15, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8], "collision", [1554.95, 217.73]], [14, "contact", null], [14, "grasped", null], [[24], "collision", [81.86]], [25, "success", null], [[25, 26, 27], "collision", [48.83, 49.99, 111.14]], [28, "lost_success", null], [[28, 29], "collision", [94.52, 79.83]], [30, "success", null], [[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, 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, 194, 195, 196, 197, 198, 199], "collision", [72.66, 49.09, 48.5, 48.95, 44.35, 39.89, 33.78, 29.2, 21.24, 18.2, 11.75, 11.31, 8.32, 7.97, 11.33, 8.95, 9.84, 9.15, 12.76, 10.47, 11.57, 12.97, 10.78, 9.8, 10.13, 9.58, 9.71, 9.34, 8.23, 9.59, 10.41, 11.63, 12.07, 11.12, 11.15, 11.09, 9.94, 10.6, 10.7, 11.64, 11.4, 12.33, 13.21, 11.44, 11.24, 13.18, 10.65, 10.87, 10.34, 11.07, 11.39, 11.22, 8.71, 11.3, 11.79, 12.88, 12.07, 12.98, 11.14, 14.84, 11.17, 13.26, 11.49, 10.76, 12.25, 12.39, 10.42, 11.73, 12.76, 12.04, 12.71, 10.42, 12.04, 12.26, 12.63, 13.64, 13.58, 13.29, 12.24, 12.39, 13.35, 13.91, 12.97, 13.89, 13.35, 14.83, 15.27, 12.96, 12.8, 13.88, 14.92, 15.37, 14.55, 12.52, 15.01, 14.24, 14.03, 12.23, 11.77, 13.37, 11.54, 12.08, 12.56, 12.44, 12.91, 13.0, 12.24, 13.3, 12.87, 12.84, 13.77, 11.52, 11.67, 12.85, 12.5, 14.05, 13.95, 15.18, 15.21, 13.1, 12.0, 12.28, 11.41, 16.68, 11.98, 12.03, 13.21, 12.49, 13.0, 11.59, 12.34, 12.44, 12.1, 14.35, 11.05, 15.34, 11.79, 15.86, 12.57, 12.61, 12.39, 11.46, 10.67, 12.98, 12.38, 11.79, 11.85, 12.08, 11.93, 12.37, 14.86, 11.67, 11.13, 12.52, 10.22, 11.55, 13.12, 11.04, 10.98, 10.78, 13.87, 11.73, 11.99, 12.76, 11.74, 11.54, 12.87, 15.35, 13.31, 13.03]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 57, + "init_config_idx": 70, + "spawn_selection_idx": 15, + "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", [18.94, 272.08, 242.14, 239.78, 234.17, 145.7]], [17, "contact", null], [[17], "collision", [2529.11]], [18, "grasped", null], [[33], "collision", [0.44]], [50, "success", null], [[50, 51, 52], "collision", [0.2, 0.06, 0.05]], [53, "lost_success", null], [[53], "collision", [0.04]], [54, "success", null], [[54, 55, 56], "collision", [0.05, 0.06, 0.0]], [58, "lost_success", null], [64, "success", null], [[71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81], "collision", [0.11, 0.05, 0.05, 0.05, 0.05, 0.06, 0.05, 0.08, 0.05, 0.06, 0.05]], [82, "lost_success", null], [[82], "collision", [0.06]], [83, "success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [0.06, 0.07, 0.07, 0.07, 0.07, 0.05, 0.06, 0.06, 0.0, 0.01, 0.01]], [94, "lost_success", null], [[94, 95], "collision", [0.07, 0.06]], [96, "success", null], [[96, 97, 98, 99, 100, 101, 102, 103], "collision", [0.06, 0.07, 0.06, 0.06, 0.06, 0.06, 0.0, 0.0]], [117, "lost_success", null], [118, "success", null], [129, "lost_success", null], [130, "success", null], [131, "lost_success", null], [132, "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, 164, 175, 176, 177], "collision", [0.05, 0.06, 0.06, 0.05, 0.05, 0.06, 0.05, 0.05, 0.05, 0.05, 0.06, 0.06, 0.06, 0.06, 0.06, 0.06, 0.05, 0.06, 0.07, 0.06, 0.05, 0.05, 0.06, 0.05, 0.06, 0.06, 0.06, 0.07, 0.05, 0.05, 0.05, 0.0, 0.01, 0.05, 0.05]], [178, "lost_success", null], [[178, 179, 180, 181], "collision", [0.05, 0.08, 0.07, 0.06]], [182, "success", null], [[182], "collision", [0.07]], [183, "lost_success", null], [[183, 184], "collision", [0.09, 0.0]], [195, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 0, + "init_config_idx": 67, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 17, 20], "collision", [83.26, 1060.42, 185.84, 165.63, 1971.49]], [22, "contact", null], [[22], "collision", [813.36]], [23, "grasped", null], [44, "success", null], [153, "lost_success", null], [160, "success", null], [166, "lost_success", null], [170, "success", null], [177, "lost_success", null], [178, "success", null], [179, "lost_success", null], [180, "success", null], [183, "lost_success", null], [184, "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": 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": 59, + "task_plan_idx": 24, + "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": [[[6, 7, 8, 9, 10], "collision", [127.99, 203.81, 265.35, 345.33, 28.2]], [14, "contact", null], [14, "grasped", null], [[14, 15, 22, 23], "collision", [142.11, 46.54, 3.93, 28.49]], [33, "success", null], [62, "lost_success", null], [66, "success", null], [68, "lost_success", null], [81, "success", null], [104, "lost_success", null], [106, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 59, + "task_plan_idx": 2, + "init_config_idx": 6, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 6, 7], "collision", [442.04, 460.38, 220.11, 231.85, 193.1]], [14, "contact", null], [14, "grasped", null], [28, "success", null], [33, "lost_success", null], [34, "success", null], [48, "lost_success", null], [49, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 60, + "task_plan_idx": 39, + "init_config_idx": 157, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [19, "grasped", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [47, "lost_success", null], [48, "success", null], [83, "lost_success", null], [84, "success", null], [85, "lost_success", null], [94, "success", null], [107, "lost_success", null], [108, "success", null], [111, "lost_success", null], [117, "success", null], [118, "lost_success", null], [119, "success", null], [122, "lost_success", null], [124, "success", null], [125, "lost_success", null], [130, "success", null], [153, "lost_success", null], [160, "success", null], [161, "lost_success", null], [169, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 60, + "task_plan_idx": 146, + "init_config_idx": 6, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[26, "contact", null], [26, "grasped", null], [[26, 48, 50], "collision", [304.26, 16.68, 38.61]], [52, "success", null], [60, "lost_success", null], [65, "success", null], [[99, 100, 101, 102], "collision", [71.03, 69.36, 67.18, 33.84]], [103, "lost_success", null], [[103], "collision", [26.37]], [104, "success", null], [106, "lost_success", null], [121, "success", null], [129, "lost_success", null], [132, "success", null], [138, "lost_success", null], [139, "success", null], [152, "lost_success", null], [161, "success", null], [[161], "collision", [24.8]], [162, "lost_success", null], [[162], "collision", [25.51]], [163, "success", null], [[163, 164, 165], "collision", [25.79, 25.86, 26.75]], [166, "lost_success", null], [[166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179], "collision", [25.15, 25.83, 26.24, 25.88, 26.19, 25.04, 24.54, 24.37, 19.62, 19.8, 23.13, 23.76, 23.45, 22.8]], [180, "success", null], [[180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 199], "collision", [22.86, 26.03, 24.49, 25.66, 25.84, 26.47, 26.85, 27.29, 26.81, 26.84, 26.46, 26.41, 25.02, 22.57, 24.04, 21.38, 9.48]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 61, + "task_plan_idx": 48, + "init_config_idx": 126, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 18, 20, 21, 22, 23], "collision", [89.49, 174.8, 131.8, 145.72, 181.34, 38.83]], [25, "contact", null], [25, "grasped", null], [[33], "collision", [485.75]], [54, "success", null], [153, "lost_success", null], [163, "success", null], [166, "lost_success", null]], + "articulation_type": "fridge", + "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": 61, + "task_plan_idx": 7, + "init_config_idx": 14, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [12, "grasped", null], [23, "success", null], [[23, 24, 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], "collision", [48.6, 48.17, 54.62, 56.43, 61.78, 64.6, 55.72, 62.74, 68.21, 64.01, 61.19, 53.87, 60.8, 63.41, 47.44, 48.94, 44.45, 45.21, 53.55, 48.71, 45.07, 50.28, 51.07, 53.7, 45.35, 31.66, 32.5, 27.13, 31.06, 23.02, 18.15, 17.95, 14.47, 11.59, 10.59, 10.82, 8.38]], [60, "lost_success", null], [[60, 61, 62, 63, 64], "collision", [8.45, 8.6, 7.76, 8.97, 8.62]], [65, "success", null], [[65], "collision", [9.68]], [71, "lost_success", null], [72, "success", null], [[132], "collision", [0.71]], [145, "lost_success", null], [[145], "collision", [1.44]], [146, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 4, + "init_config_idx": 68, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[29, 30], "collision", [257.48, 231.54]], [35, "contact", null], [36, "grasped", null], [[36], "collision", [4114.19]], [58, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [74, "success", null], [77, "lost_success", null], [78, "success", null], [90, "lost_success", null], [97, "success", null], [102, "lost_success", null], [104, "success", null], [105, "lost_success", null], [106, "success", null], [113, "lost_success", null], [114, "success", null], [129, "lost_success", null], [130, "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": 62, + "task_plan_idx": 92, + "init_config_idx": 122, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [123.28, 777.53]], [16, "contact", null], [16, "grasped", null], [37, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [[50, 53], "collision", [4.7, 5.12]], [62, "success", null], [64, "lost_success", null], [65, "success", null], [66, "lost_success", null], [67, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [72, "success", null], [76, "lost_success", null], [79, "success", null], [85, "lost_success", null], [86, "success", null], [105, "lost_success", null], [107, "success", null], [119, "lost_success", null], [121, "success", null], [[121], "collision", [14.5]], [126, "lost_success", null], [165, "success", null], [177, "lost_success", null], [182, "success", null], [184, "lost_success", null], [188, "success", null], [190, "lost_success", null], [191, "success", null], [192, "lost_success", null], [193, "success", null], [194, "lost_success", null], [196, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 74, + "init_config_idx": 142, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 9], "collision", [341.65, 195.05, 12.45]], [12, "contact", null], [13, "lost_contact", null], [14, "contact", null], [14, "grasped", null], [28, "success", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51], "collision", [58.16, 46.59, 61.53, 44.25, 52.39, 78.72, 53.2, 55.18, 43.88, 38.78, 38.11, 37.19, 40.35, 21.93]], [54, "lost_success", null], [55, "success", null], [56, "lost_success", null], [58, "success", null], [64, "lost_success", null], [65, "success", null], [[82, 83, 84, 85, 86, 87, 88], "collision", [32.63, 9.83, 12.25, 15.91, 12.95, 10.79, 7.29]], [94, "lost_success", null], [96, "success", null], [102, "lost_success", null], [119, "success", null], [121, "lost_success", null], [126, "success", null], [127, "lost_success", null], [128, "success", null], [152, "lost_success", null], [153, "success", null], [164, "lost_success", null], [165, "success", null], [166, "lost_success", null], [167, "success", null], [170, "lost_success", null], [171, "success", null], [180, "lost_success", null], [181, "success", null], [189, "lost_success", null], [191, "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": 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": 63, + "task_plan_idx": 149, + "init_config_idx": 130, + "spawn_selection_idx": 94, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 23], "collision", [240.32, 130.89]], [24, "contact", null], [24, "grasped", null], [[27, 41], "collision", [9.34, 46.73]], [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, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76], "collision", [53.64, 55.58, 59.25, 75.29, 85.59, 79.86, 90.18, 83.69, 87.47, 72.62, 76.39, 90.79, 87.7, 94.75, 56.11, 67.7, 61.49, 67.92, 51.69, 43.4, 31.82, 32.32, 41.47, 55.2, 32.2, 27.33, 49.19, 122.85, 83.47, 87.01, 69.75, 63.53, 48.64, 49.42, 40.7]], [77, "lost_success", null], [[77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 99], "collision", [31.22, 36.41, 15.47, 6.49, 9.48, 12.09, 11.14, 4.77, 6.9, 6.92, 83.94, 41.27, 0.57, 0.16, 0.38, 0.2, 0.57, 0.53, 0.46, 0.41, 0.16, 0.35]], [100, "success", null], [[100, 101, 102, 103, 104, 107], "collision", [0.14, 0.29, 0.37, 0.63, 0.18, 0.19]], [108, "lost_success", null], [[108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 166, 168, 169, 170], "collision", [0.15, 0.08, 0.05, 0.31, 0.32, 0.38, 0.23, 1.51, 1.4, 1.47, 0.05, 0.27, 0.21, 0.27, 0.37, 0.2, 0.11, 0.11, 0.27, 0.48, 0.34, 0.29, 0.16, 0.29, 0.08, 0.04, 0.07, 0.13, 0.2, 0.27, 0.09, 0.17, 0.03, 0.12, 0.26, 0.48, 0.16, 0.27, 0.47, 0.19, 0.32, 0.06, 0.23, 0.14, 0.27, 0.22, 0.24, 0.24, 0.37, 0.16, 0.16, 0.17, 0.27, 0.06, 0.2, 0.11, 0.11]], [171, "success", null], [[172, 173], "collision", [0.1, 0.03]], [174, "lost_success", null], [[174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188], "collision", [0.02, 0.14, 0.21, 0.28, 0.02, 0.17, 0.07, 0.02, 0.33, 0.27, 0.27, 0.22, 0.26, 0.33, 0.23]], [189, "success", null], [[189, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [0.31, 0.06, 0.06, 0.18, 0.26, 0.11, 0.23, 0.2, 0.12, 0.09]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 64, + "task_plan_idx": 0, + "init_config_idx": 17, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12], "collision", [422.46]], [16, "contact", null], [16, "grasped", null], [[16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "collision", [73.16, 109.55, 50.34, 18.86, 12.47, 13.14, 23.09, 16.14, 16.88, 15.46, 16.52, 19.2, 17.59, 19.36, 16.77, 15.76, 76.84]], [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, 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, 194, 195, 196, 197, 198, 199], "collision", [67.08, 17.18, 18.44, 19.09, 16.76, 18.33, 16.13, 17.91, 17.11, 18.13, 18.66, 17.89, 64.56, 16.44, 18.46, 17.17, 15.22, 16.27, 18.2, 18.41, 17.09, 20.84, 19.97, 19.58, 18.97, 19.38, 17.14, 19.51, 17.71, 17.26, 17.44, 18.86, 18.75, 19.73, 18.41, 18.29, 19.43, 21.29, 20.13, 17.9, 18.42, 17.77, 17.54, 15.89, 18.61, 21.05, 18.97, 20.47, 17.23, 19.29, 18.84, 18.92, 18.75, 19.81, 16.37, 18.77, 19.54, 16.85, 17.21, 18.71, 18.14, 17.85, 18.14, 18.12, 18.2, 15.52, 16.06, 15.41, 17.96, 19.25, 16.95, 18.68, 16.98, 18.33, 16.86, 18.77, 18.93, 16.82, 18.16, 17.46, 17.75, 18.36, 18.41, 18.57, 17.85, 19.0, 19.69, 18.46, 19.9, 18.98, 24.08, 22.99, 22.31, 23.2, 18.38, 26.91, 21.91, 21.13, 21.79, 18.91, 20.44, 20.96, 19.15, 19.79, 23.8, 24.53, 21.11, 21.81, 22.83, 20.53, 23.69, 24.36, 25.96, 22.51, 26.13, 24.25, 23.53, 25.52, 26.41, 25.01, 22.75, 21.49, 22.78, 22.05, 17.94, 20.14, 18.56, 19.48, 22.03, 20.74, 20.44, 19.92, 16.25, 17.96, 19.11, 16.83, 16.24, 19.93, 20.85, 19.0, 20.39, 18.76, 20.65, 19.54, 19.12, 20.03, 21.47, 23.93, 18.21, 22.22, 23.85, 22.05, 22.46, 23.19, 21.85, 26.22, 26.37, 22.53, 22.75, 21.13, 24.16, 20.0, 17.71, 16.69, 19.28, 22.56, 23.55]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 64, + "task_plan_idx": 145, + "init_config_idx": 141, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 16, 19, 20, 21, 22, 24], "collision", [309.78, 205.09, 255.05, 327.06, 413.91, 487.73, 1358.66]], [25, "contact", null], [25, "grasped", null], [[42], "collision", [4.61]], [50, "success", null], [51, "lost_success", null], [54, "success", null], [73, "lost_success", null], [74, "success", null], [82, "lost_success", null], [83, "success", null], [84, "lost_success", null], [[95, 96, 97, 98, 99, 102, 103, 105, 106, 107, 108], "collision", [34.25, 32.13, 46.28, 29.73, 57.4, 65.47, 57.6, 29.48, 33.56, 26.19, 13.51]], [111, "success", null], [116, "lost_success", null], [117, "success", null], [128, "lost_success", null], [131, "success", null], [142, "lost_success", null], [144, "success", null], [154, "lost_success", null], [155, "success", null], [172, "lost_success", null], [174, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 23, + "init_config_idx": 127, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 16], "collision", [50.63, 112.05, 1296.59, 296.18]], [17, "contact", null], [17, "grasped", null], [51, "success", null], [54, "lost_success", null], [75, "success", null], [150, "lost_success", null], [160, "success", null], [172, "lost_success", null], [181, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 72, + "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": [[[9, 10, 11, 12], "collision", [337.6, 200.61, 177.11, 176.16]], [16, "contact", null], [16, "grasped", null], [38, "success", null], [87, "lost_success", null], [93, "success", null], [124, "lost_success", null], [125, "success", null], [126, "lost_success", null], [128, "success", null], [129, "lost_success", null], [131, "success", null]], + "articulation_type": "fridge", + "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": 65, + "task_plan_idx": 67, + "init_config_idx": 93, + "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], "collision", [522.97, 324.02, 299.3, 12.97]], [14, "contact", null], [15, "grasped", null], [[16], "collision", [3288.33]], [47, "success", null], [93, "lost_success", null], [95, "success", null]], + "articulation_type": "fridge", + "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": 68, + "task_plan_idx": 92, + "init_config_idx": 128, + "spawn_selection_idx": 75, + "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", [1130.83, 292.69, 311.5, 164.16, 130.46, 182.25]], [18, "contact", null], [18, "grasped", null], [38, "success", null], [40, "lost_success", null], [41, "success", null], [42, "lost_success", null], [43, "success", null], [44, "lost_success", null], [45, "success", null], [50, "lost_success", null], [51, "success", null], [61, "lost_success", null], [62, "success", null], [65, "lost_success", null], [66, "success", null], [75, "lost_success", null], [77, "success", null], [97, "lost_success", null], [100, "success", null], [146, "lost_success", null], [147, "success", null], [166, "lost_success", null], [167, "success", null], [168, "lost_success", null], [169, "success", null], [172, "lost_success", null], [173, "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": 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": 68, + "task_plan_idx": 137, + "init_config_idx": 153, + "spawn_selection_idx": 84, + "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], "collision", [3216.21, 173.58, 242.61, 240.02, 170.65, 603.57, 165.91]], [16, "contact", null], [[16], "collision", [10.83]], [17, "grasped", null], [41, "success", null], [[57, 59, 60, 61, 62, 63], "collision", [2.48, 11.27, 19.49, 9.34, 22.11, 33.44]], [71, "lost_success", null], [99, "success", null], [114, "lost_success", null], [135, "success", null], [137, "lost_success", null], [168, "success", null], [176, "lost_success", null], [183, "success", null], [193, "lost_success", null], [194, "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": 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": 6, + "task_plan_idx": 124, + "init_config_idx": 1, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 18, 19, 20, 21, 22, 23, 24, 25, 26], "collision", [132.56, 137.82, 142.16, 87.12, 121.2, 113.04, 197.45, 80.77, 287.59, 294.41]], [27, "contact", null], [[27], "collision", [326.52]], [30, "grasped", null], [104, "success", null], [111, "lost_success", null], [114, "success", null], [115, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 7, + "task_plan_idx": 142, + "init_config_idx": 126, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 17, 18], "collision", [0.94, 0.65, 0.07, 5.34, 133.95]], [20, "contact", null], [20, "grasped", null], [[22], "collision", [615.02]], [45, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 7, + "task_plan_idx": 129, + "init_config_idx": 113, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 16], "collision", [41.17, 380.53, 197.85, 202.16, 358.29]], [19, "contact", null], [19, "grasped", null], [[24], "collision", [2.15]], [37, "success", null], [[37], "collision", [0.3]], [38, "lost_success", null], [[38, 42], "collision", [4.77, 90.69]], [43, "success", null], [[43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 69], "collision", [121.82, 122.14, 104.99, 68.67, 79.0, 73.57, 77.93, 69.58, 64.85, 41.83, 34.29, 16.57, 0.82, 0.79, 4.87, 0.64, 13.96, 14.48, 30.14, 0.76, 0.75, 0.53, 0.87]], [70, "lost_success", null], [[70], "collision", [0.67]], [71, "success", null], [[71, 72, 73, 74, 75, 86, 87, 88, 89, 90, 91, 92, 93, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104], "collision", [0.83, 0.81, 0.82, 0.69, 0.74, 0.34, 0.84, 0.79, 0.78, 0.87, 0.94, 0.87, 0.85, 0.51, 0.55, 0.22, 0.81, 0.82, 0.78, 0.8, 0.74, 0.66, 0.85]], [105, "lost_success", null], [[105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116], "collision", [0.71, 0.83, 0.78, 0.42, 0.77, 0.81, 0.83, 0.79, 0.76, 0.72, 0.3, 0.35]], [119, "success", null], [[120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134], "collision", [0.85, 0.86, 0.82, 0.75, 0.77, 0.79, 0.8, 0.73, 0.82, 0.86, 0.78, 0.74, 0.76, 0.77, 0.75]], [135, "lost_success", null], [[135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147], "collision", [0.83, 0.73, 0.76, 0.8, 0.8, 0.82, 0.79, 0.76, 0.75, 0.75, 0.71, 0.72, 0.34]], [169, "success", null], [170, "lost_success", null], [[179], "collision", [0.75]], [180, "success", null], [[185, 186, 187, 188, 189, 194, 195, 196], "collision", [0.19, 0.74, 0.77, 0.76, 0.72, 0.76, 0.69, 0.72]], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 7, + "task_plan_idx": 49, + "init_config_idx": 136, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 11], "collision", [191.62, 252.99, 271.1, 221.28, 195.45]], [15, "contact", null], [15, "grasped", null], [[16], "collision", [206.0]], [34, "success", null], [36, "lost_success", null], [38, "success", null], [39, "lost_success", null], [42, "success", null], [43, "lost_success", null], [44, "success", null], [46, "lost_success", null], [47, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [79, "success", null], [[79], "collision", [66.02]], [90, "lost_success", null], [91, "success", null], [112, "lost_success", null], [113, "success", null], [115, "lost_success", null], [116, "success", null], [122, "lost_success", null], [123, "success", null], [127, "lost_success", null], [128, "success", null], [137, "lost_success", null], [138, "success", null], [140, "lost_success", null], [141, "success", null], [142, "lost_success", null], [143, "success", null], [155, "lost_success", null], [157, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 8, + "task_plan_idx": 38, + "init_config_idx": 169, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [1483.64]], [13, "contact", null], [13, "grasped", null], [26, "success", null], [33, "lost_success", null], [51, "success", null], [52, "lost_success", null], [54, "success", null], [55, "lost_success", null], [65, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 8, + "task_plan_idx": 142, + "init_config_idx": 138, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 22, 23], "collision", [889.42, 128.57, 55.02]], [24, "contact", null], [25, "grasped", null], [105, "success", null], [106, "lost_success", null], [107, "success", null], [111, "lost_success", null], [115, "success", null], [127, "lost_success", null], [130, "success", null], [157, "lost_success", null], [162, "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": 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": 9, + "task_plan_idx": 119, + "init_config_idx": 134, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13], "collision", [171.32]], [20, "contact", null], [20, "grasped", null], [48, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [[77, 78], "collision", [60.0, 137.14]], [79, "success", null], [80, "lost_success", null], [[80], "collision", [108.12]], [81, "success", null], [[81, 82], "collision", [115.45, 118.81]], [83, "lost_success", null], [[83], "collision", [53.22]], [84, "success", null], [[84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 105, 106, 108, 109, 110, 111, 112, 113, 114, 115], "collision", [37.09, 52.65, 18.77, 13.53, 29.42, 63.02, 43.93, 40.47, 0.05, 8.68, 26.0, 30.57, 36.85, 29.78, 39.8, 22.82, 21.97, 24.21, 21.36, 20.05, 15.82, 20.55, 21.75, 7.7, 17.0, 29.02, 25.14, 25.99, 38.68, 19.31]], [116, "lost_success", null], [117, "success", null], [118, "lost_success", null], [120, "success", null], [135, "lost_success", null], [136, "success", null], [137, "lost_success", null], [141, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 10, + "task_plan_idx": 64, + "init_config_idx": 94, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19], "collision", [2269.8]], [20, "contact", null], [22, "lost_contact", null], [23, "contact", null], [24, "grasped", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [[56, 61], "collision", [91.93, 3.91]], [83, "lost_success", null], [88, "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, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 138, 139, 144, 145, 146, 149, 153, 154, 155, 156, 159, 160, 161, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 196, 197, 198], "collision", [75.51, 39.53, 52.1, 44.8, 50.38, 46.74, 45.33, 45.54, 33.17, 39.04, 31.66, 40.17, 44.1, 23.48, 30.93, 35.94, 38.8, 33.71, 30.9, 30.25, 28.44, 37.2, 37.77, 41.7, 34.19, 30.65, 39.26, 41.13, 59.34, 61.0, 46.85, 42.09, 46.11, 43.7, 42.77, 37.01, 40.36, 34.11, 21.38, 23.04, 21.26, 20.5, 20.56, 17.58, 43.34, 29.24, 16.2, 16.64, 17.92, 13.75, 19.02, 12.33, 16.84, 7.24, 40.81, 36.75, 37.47, 38.62, 22.85, 15.73, 19.17, 11.54, 17.23, 16.75, 14.35, 20.27, 20.73, 37.86, 25.1, 36.1, 39.3, 27.95, 11.94, 31.62, 14.43, 8.6, 22.07, 1.49, 10.33]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 10, + "task_plan_idx": 143, + "init_config_idx": 114, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18], "collision", [127.76, 77.7, 298.52]], [20, "contact", null], [[20], "collision", [904.56]], [23, "grasped", null], [47, "success", null], [97, "lost_success", null], [99, "success", null], [100, "lost_success", null], [104, "success", null], [106, "lost_success", null], [107, "success", null], [112, "lost_success", null], [113, "success", null], [115, "lost_success", null], [116, "success", null], [117, "lost_success", null], [119, "success", null], [127, "lost_success", null], [128, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 11, + "task_plan_idx": 24, + "init_config_idx": 35, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 11, 16], "collision", [485.92, 107.84, 560.16]], [19, "contact", null], [19, "grasped", null], [40, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [[54, 55, 56, 57, 58, 59], "collision", [9.13, 24.24, 40.62, 40.11, 56.41, 15.53]], [117, "lost_success", null], [122, "success", null], [[124, 125, 126, 127, 128], "collision", [130.72, 139.7, 131.36, 111.39, 79.63]], [129, "lost_success", null], [[129, 130, 131, 132, 133], "collision", [131.96, 139.94, 151.65, 155.61, 117.08]], [134, "success", null], [[134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147], "collision", [69.41, 102.2, 68.05, 94.18, 94.06, 78.73, 86.92, 76.25, 96.44, 81.19, 79.54, 60.45, 72.84, 39.36]], [149, "lost_success", null], [[149, 150, 154], "collision", [23.19, 34.69, 3.09]], [155, "success", null], [[155, 156, 157, 158, 159, 160, 163], "collision", [33.6, 34.35, 25.82, 29.96, 23.93, 15.35, 24.03]], [165, "lost_success", null], [185, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 11, + "task_plan_idx": 66, + "init_config_idx": 107, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 15, 16, 17], "collision", [63.35, 584.67, 1103.55, 201.25]], [21, "contact", null], [22, "grasped", null], [51, "success", null], [133, "lost_success", null], [134, "success", null], [153, "lost_success", null], [158, "success", null], [159, "lost_success", null], [161, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 12, + "task_plan_idx": 77, + "init_config_idx": 10, + "spawn_selection_idx": 1, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [2071.81, 563.6]], [19, "contact", null], [19, "grasped", null], [40, "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": 13, + "task_plan_idx": 83, + "init_config_idx": 16, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [574.42]], [24, "contact", null], [25, "grasped", null], [52, "success", null], [55, "lost_success", null], [59, "success", null], [72, "lost_success", null], [74, "success", null], [149, "lost_success", null], [150, "success", null], [159, "lost_success", null], [161, "success", null], [162, "lost_success", null], [173, "success", null], [174, "lost_success", null], [176, "success", null], [183, "lost_success", null], [186, "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": 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": 13, + "task_plan_idx": 98, + "init_config_idx": 79, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[15, "contact", null], [15, "grasped", null], [26, "success", null], [61, "lost_success", null], [66, "success", null], [152, "lost_success", null], [165, "success", null], [166, "lost_success", null], [167, "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": 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": 14, + "task_plan_idx": 39, + "init_config_idx": 146, + "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", [322.52, 216.35]], [16, "contact", null], [16, "grasped", null], [[16, 17, 18], "collision", [128.7, 94.74, 79.83]], [35, "success", null], [37, "lost_success", null], [38, "success", null], [41, "lost_success", null], [43, "success", null], [[82, 83, 84, 86, 87, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 113, 114, 115, 116, 117], "collision", [22.16, 24.79, 6.54, 9.34, 6.97, 12.2, 6.81, 11.12, 16.88, 19.8, 19.14, 13.55, 12.32, 16.15, 11.96, 8.92, 6.53, 5.59, 18.11, 12.32, 9.02, 8.42, 9.51, 11.44, 7.83, 4.71, 6.94]], [129, "lost_success", null], [137, "success", null], [[141], "collision", [27.34]]], + "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": 15, + "task_plan_idx": 166, + "init_config_idx": 121, + "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, 14], "collision", [570.77, 275.32, 230.32, 212.69]], [17, "contact", null], [18, "grasped", null], [[35, 36, 44], "collision", [0.35, 0.03, 0.08]], [45, "success", null], [46, "lost_success", null], [[47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59], "collision", [0.07, 0.02, 0.05, 0.19, 0.08, 0.07, 0.05, 0.05, 0.08, 0.1, 0.02, 0.1, 0.06]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 15, + "task_plan_idx": 61, + "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": [[20, "contact", null], [20, "grasped", null], [[20], "collision", [1.98]], [43, "success", null], [44, "lost_success", null], [45, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [123, "lost_success", null], [133, "success", null], [158, "lost_success", null], [159, "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": 15, + "task_plan_idx": 60, + "init_config_idx": 56, + "spawn_selection_idx": 52, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[34, 54, 55, 56, 58], "collision", [1090.08, 135.16, 40.67, 31.2, 106.68]], [59, "contact", null], [[59], "collision", [3.57]], [61, "lost_contact", null], [[67], "collision", [14.97]], [73, "contact", null], [74, "lost_contact", null], [75, "contact", null], [83, "lost_contact", null], [[83], "collision", [2283.47]], [84, "contact", null], [84, "grasped", null], [95, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 7, + "init_config_idx": 95, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 15, 16], "collision", [137.22, 52.58, 139.56, 410.12, 240.98, 643.84]], [17, "contact", null], [19, "grasped", null], [46, "success", null], [51, "lost_success", null], [85, "success", null], [87, "lost_success", null], [88, "success", null], [90, "lost_success", null], [91, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 16, + "task_plan_idx": 20, + "init_config_idx": 12, + "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], [29, "success", null], [32, "lost_success", null], [33, "success", null], [53, "lost_success", null], [59, "success", null], [61, "lost_success", null], [62, "success", null], [72, "lost_success", null], [73, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [83, "success", null], [84, "lost_success", null], [85, "success", null], [111, "lost_success", null], [112, "success", null], [128, "lost_success", null], [129, "success", null], [130, "lost_success", null], [132, "success", null], [165, "lost_success", null], [168, "success", null], [172, "lost_success", null], [179, "success", null], [183, "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": 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": 17, + "task_plan_idx": 111, + "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": [[13, "contact", null], [13, "grasped", null], [[21, 22, 23, 24, 27], "collision", [23.62, 14.63, 96.98, 171.55, 39.19]], [29, "success", null], [30, "lost_success", null], [[30], "collision", [194.3]], [31, "success", null], [[31], "collision", [172.97]], [33, "lost_success", null], [[33, 34, 35], "collision", [41.29, 115.07, 76.4]], [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, 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], "collision", [105.49, 192.07, 184.99, 194.48, 212.52, 126.68, 137.14, 109.81, 62.18, 77.31, 97.13, 82.86, 28.4, 36.15, 36.01, 26.89, 21.29, 19.35, 21.49, 25.57, 27.8, 30.58, 15.17, 15.99, 15.41, 16.17, 17.26, 18.05, 14.84, 15.57, 18.41, 17.67, 24.75, 24.63, 29.77, 31.23, 31.73, 30.86, 36.8, 40.98, 36.74, 31.28, 32.5, 27.5, 21.76, 15.54, 15.91, 21.74, 20.41, 19.91, 22.15, 18.08, 16.22, 12.53, 12.08, 13.81, 15.91, 18.52, 15.07, 12.59, 11.89, 13.22, 12.77, 13.76, 12.05, 13.29, 12.56, 13.52, 10.36, 13.12, 13.24, 12.39, 13.38, 13.05, 11.47, 11.86, 10.71, 9.67, 13.52, 11.16, 10.22]], [117, "lost_success", null], [[117, 118], "collision", [13.26, 12.31]], [119, "success", null], [[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], "collision", [12.75, 12.44, 12.2, 12.81, 14.17, 14.79, 12.07, 13.45, 12.22, 13.49, 14.19, 13.54, 11.52, 12.21, 15.08, 13.93, 14.18, 11.14, 12.45, 12.88, 13.99, 14.29, 12.55, 12.51, 15.36, 13.89, 14.33, 12.69, 14.25, 12.88, 12.57, 12.82, 12.03, 14.89, 15.29, 14.0, 13.19, 14.81, 14.42, 12.99, 11.92, 12.44, 13.61, 14.64, 14.2, 14.92, 13.95, 11.53, 14.98, 13.39, 14.56, 12.68, 14.76, 11.32, 10.45, 13.1, 11.63, 13.26, 15.1, 11.99, 12.71, 13.76, 11.17, 14.14, 12.49]], [184, "lost_success", null], [[184], "collision", [16.24]], [185, "success", null], [[185, 186, 187, 188, 189, 190], "collision", [12.04, 12.56, 11.39, 10.97, 11.52, 13.91]], [191, "lost_success", null], [[191], "collision", [13.96]], [192, "success", null], [[192, 193, 194, 195, 196], "collision", [12.27, 13.31, 13.42, 12.0, 11.95]], [197, "lost_success", null], [[197], "collision", [11.82]], [198, "success", null], [[198, 199], "collision", [10.6, 13.5]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 17, + "task_plan_idx": 41, + "init_config_idx": 94, + "spawn_selection_idx": 5, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [708.49]], [10, "contact", null], [11, "grasped", null], [23, "success", null], [24, "lost_success", null], [25, "success", null], [[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, 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, 194, 195, 196, 197, 198, 199], "collision", [4.52, 2.97, 2.21, 4.3, 2.55, 1.41, 6.74, 1.61, 2.74, 4.34, 5.47, 3.72, 2.3, 1.83, 3.62, 5.16, 5.02, 5.11, 5.1, 5.12, 5.16, 5.12, 5.12, 5.09, 5.2, 5.07, 4.95, 5.27, 5.06, 5.03, 5.03, 5.09, 5.37, 4.74, 5.12, 5.02, 5.08, 5.11, 5.09, 5.09, 4.92, 5.1, 5.11, 5.13, 5.1, 5.08, 5.25, 5.05, 4.95, 5.09, 5.1, 5.02, 5.12, 5.09, 5.1, 5.11, 5.09, 5.1, 5.11, 5.07, 5.06, 5.11, 5.11, 5.17, 5.12, 5.07, 5.12, 5.11, 5.09, 5.12, 5.22, 5.07, 5.16, 5.15, 5.05, 5.12, 5.18, 5.1, 5.18, 5.15, 5.16, 5.15, 5.15, 5.13, 5.16, 5.08, 5.06, 5.06, 5.16, 5.12, 5.1, 5.12, 5.12, 5.14, 5.13, 5.19, 5.13, 5.17, 5.14, 5.17, 5.08, 5.13, 5.09, 5.12, 5.09, 5.12, 5.1, 5.09, 5.14, 5.11, 5.15, 5.11, 5.09, 5.09, 5.12, 5.13, 5.16, 5.12, 5.09, 5.11, 5.15, 5.12, 5.14, 5.1, 5.14, 5.12, 5.14, 5.14, 5.1, 5.11, 5.09, 5.11, 5.12, 5.11, 5.09, 5.14, 5.14, 5.11, 5.03, 5.06, 5.09, 5.06, 5.15, 5.12, 5.13, 5.18, 5.15, 5.17, 5.08, 5.11, 5.16, 5.12, 5.12, 5.13, 5.11, 5.11, 5.12, 5.11, 5.1, 5.11, 5.12, 5.14, 5.09, 5.14, 5.11, 5.11, 5.11, 5.13, 5.11, 5.11, 5.12, 5.13]]], + "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": 18, + "task_plan_idx": 123, + "init_config_idx": 31, + "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], [39, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 18, + "task_plan_idx": 103, + "init_config_idx": 93, + "spawn_selection_idx": 26, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 10, 11], "collision", [817.03, 249.74, 267.65]], [16, "contact", null], [16, "grasped", null], [43, "success", null], [45, "lost_success", null], [48, "success", null], [75, "lost_success", null], [83, "success", null], [85, "lost_success", null], [87, "success", null], [89, "lost_success", null], [95, "success", null], [193, "lost_success", null], [195, "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": 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": 20, + "task_plan_idx": 177, + "init_config_idx": 49, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [18, "grasped", null], [63, "success", null], [64, "lost_success", null], [66, "success", null], [68, "lost_success", null], [70, "success", null], [78, "lost_success", null], [91, "success", null], [97, "lost_success", null], [100, "success", null], [120, "lost_success", null], [122, "success", null], [123, "lost_success", null], [126, "success", null], [141, "lost_success", null], [142, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 20, + "task_plan_idx": 60, + "init_config_idx": 152, + "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], [16, "grasped", null], [[27, 28], "collision", [37.48, 67.51]], [31, "success", null], [32, "lost_success", null], [[32], "collision", [11.07]], [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, 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], "collision", [16.65, 59.53, 104.55, 129.27, 140.53, 78.23, 129.58, 103.11, 107.35, 136.07, 115.62, 115.81, 109.02, 104.38, 98.14, 83.62, 84.86, 149.33, 50.09, 167.79, 47.53, 131.01, 47.02, 80.25, 44.03, 42.3, 46.52, 44.25, 39.55, 30.51, 11.2, 10.85, 14.1, 14.9, 19.25, 20.46, 20.5, 21.63, 20.21, 20.27, 21.9, 8.39, 34.21, 24.66, 11.28, 7.41, 11.86, 2.21, 4.46, 24.33, 33.19, 13.06, 10.85, 4.14, 0.86]], [116, "lost_success", null], [122, "success", null], [123, "lost_success", null], [132, "success", null], [137, "lost_success", null], [140, "success", null], [145, "lost_success", null], [146, "success", null], [150, "lost_success", null], [189, "success", null], [191, "lost_success", null], [192, "success", null], [197, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 21, + "task_plan_idx": 58, + "init_config_idx": 23, + "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], [[37], "collision", [7.67]], [42, "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, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [2.2, 12.64, 15.22, 25.12, 20.47, 16.85, 19.99, 22.45, 25.81, 30.7, 37.49, 11.69, 25.64, 57.34, 50.14, 45.38, 64.18, 59.57, 63.38, 60.23, 34.25, 8.84, 2.96, 2.95, 2.82, 2.21, 1.28, 2.38, 3.93, 4.05, 3.13, 4.84, 4.75, 3.93, 4.48, 5.04, 3.21, 2.63, 2.98, 4.07, 4.25, 2.53, 4.15]], [89, "lost_success", null], [[89, 90, 91, 92, 93, 94, 95, 96, 97], "collision", [4.92, 6.13, 6.18, 5.12, 4.2, 4.6, 3.63, 4.93, 4.83]], [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, 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", [3.03, 2.66, 4.22, 3.45, 3.74, 5.4, 7.24, 8.3, 7.93, 11.86, 17.0, 20.9, 23.3, 22.05, 21.11, 22.11, 22.35, 21.01, 19.31, 15.63, 13.4, 14.26, 10.6, 6.41, 5.21, 1.85, 0.66, 1.13, 1.87, 1.67, 3.88, 3.13, 3.6, 8.26, 15.25, 0.2, 1.55, 0.15, 0.51, 1.16, 4.37, 11.36, 10.81, 18.59, 27.46, 31.92, 34.26, 28.82, 28.0, 20.44, 5.18, 9.36, 9.7, 0.92, 1.98, 1.39, 1.58, 0.82, 1.59, 1.63, 1.03, 0.46, 1.87, 1.22, 2.25, 2.05, 1.89, 0.66, 1.31, 1.65, 3.49, 1.43, 1.25, 1.58, 0.99, 1.23, 0.36, 0.2, 0.52, 1.34, 3.77, 0.28, 1.87, 0.49, 2.15, 1.87, 1.07, 2.39, 1.5, 1.58, 1.9, 0.89, 1.16, 1.25, 1.3, 0.81, 3.02, 1.05, 2.07, 1.7, 1.24, 0.63]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 63, + "init_config_idx": 100, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7], "collision", [194.08, 238.34, 280.35]], [10, "contact", null], [10, "grasped", null], [25, "success", null], [80, "lost_success", null], [81, "success", null], [89, "lost_success", null], [90, "success", null], [99, "lost_success", null], [123, "success", null], [136, "lost_success", null], [137, "success", null], [147, "lost_success", null], [148, "success", null], [183, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 16, + "init_config_idx": 162, + "spawn_selection_idx": 16, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[28], "collision", [281.41]], [32, "contact", null], [33, "lost_contact", null], [34, "contact", null], [34, "grasped", null], [53, "success", null], [55, "lost_success", null], [56, "success", null], [68, "lost_success", null], [69, "success", null], [[99, 100, 101], "collision", [74.34, 91.6, 131.39]], [102, "lost_success", null], [[102, 103, 104, 105, 106, 107], "collision", [113.22, 96.75, 137.66, 72.22, 53.97, 91.37]], [108, "success", null], [[108], "collision", [100.96]], [109, "lost_success", null], [[109, 110, 111, 112, 113], "collision", [84.02, 101.09, 78.62, 98.26, 90.88]], [114, "success", null], [[114, 115, 116, 117, 118, 119, 120], "collision", [79.01, 72.86, 73.29, 57.52, 54.32, 59.86, 32.06]], [121, "lost_success", null], [[121, 122, 123, 124], "collision", [59.44, 2.58, 21.96, 3.53]], [127, "success", null], [[130, 131, 132, 133], "collision", [68.6, 30.7, 82.38, 70.64]], [134, "lost_success", null], [[134, 135, 136], "collision", [23.88, 21.7, 75.51]], [138, "success", null], [[141], "collision", [13.2]]], + "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": 23, + "task_plan_idx": 65, + "init_config_idx": 142, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [2529.13]], [16, "contact", null], [16, "grasped", null], [37, "success", null], [39, "lost_success", null], [41, "success", null], [50, "lost_success", null], [51, "success", null], [59, "lost_success", null], [60, "success", null], [62, "lost_success", null], [64, "success", null], [67, "lost_success", null], [68, "success", null], [69, "lost_success", null], [70, "success", null], [73, "lost_success", null], [75, "success", null], [92, "lost_success", null], [93, "success", null], [94, "lost_success", null], [95, "success", null], [98, "lost_success", null], [100, "success", null], [104, "lost_success", null], [105, "success", null], [140, "lost_success", null], [141, "success", null]], + "articulation_type": "fridge", + "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": 23, + "task_plan_idx": 138, + "init_config_idx": 65, + "spawn_selection_idx": 19, + "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], [34, "lost_success", null], [41, "success", null], [44, "lost_success", null], [48, "success", null], [49, "lost_success", null], [51, "success", null], [77, "lost_success", null], [84, "success", null], [90, "lost_success", null], [91, "success", null], [122, "lost_success", null], [132, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [136, "success", null], [137, "lost_success", null], [138, "success", null], [142, "lost_success", null], [144, "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": 24, + "task_plan_idx": 98, + "init_config_idx": 115, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [[29, 30, 31, 32, 33], "collision", [1.42, 0.08, 0.09, 0.07, 0.02]], [60, "success", null], [65, "lost_success", null], [76, "success", null], [86, "lost_success", null], [87, "success", null], [88, "lost_success", null], [94, "success", null], [101, "lost_success", null], [116, "success", null], [117, "lost_success", null], [118, "success", null], [122, "lost_success", null], [123, "success", null], [137, "lost_success", null], [148, "success", null], [153, "lost_success", null], [162, "success", null], [166, "lost_success", null], [181, "success", null], [188, "lost_success", null], [189, "success", null], [190, "lost_success", null], [192, "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": 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": 24, + "task_plan_idx": 61, + "init_config_idx": 116, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[25], "collision", [79.12]], [26, "contact", null], [26, "grasped", null], [[33, 34, 35, 36, 37, 38, 39, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66], "collision", [481.68, 151.87, 72.04, 30.1, 28.31, 34.05, 8.4, 7.08, 9.21, 68.96, 16.24, 17.92, 11.43, 51.25, 52.48, 43.24, 0.64, 10.69, 11.29, 11.25, 11.15, 10.48, 9.14, 11.5, 10.78, 10.49, 9.5, 9.81, 10.9]], [67, "success", null], [[67, 68, 69, 70], "collision", [10.76, 9.38, 8.48, 10.76]], [71, "lost_success", null], [[71, 72, 73, 74, 75], "collision", [12.07, 10.09, 10.32, 8.61, 6.87]], [76, "success", null], [[76, 77], "collision", [10.94, 11.88]], [78, "lost_success", null], [[78], "collision", [10.05]], [79, "success", null], [[79, 80, 81, 82, 83, 84, 85], "collision", [10.72, 10.95, 10.22, 8.24, 11.5, 10.05, 11.56]], [86, "lost_success", null], [[86, 87], "collision", [8.6, 9.44]], [88, "success", null], [[88, 89, 90, 91, 92, 93], "collision", [8.67, 11.03, 9.27, 9.56, 11.35, 9.77]], [94, "lost_success", null], [[94], "collision", [10.46]], [95, "success", null], [[95, 96, 97, 98], "collision", [9.72, 11.07, 9.3, 10.28]], [99, "lost_success", null], [[99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115], "collision", [11.4, 10.64, 11.74, 11.78, 10.0, 9.82, 10.28, 10.1, 10.57, 10.54, 10.13, 11.34, 9.51, 9.32, 9.4, 8.57, 8.99]], [116, "success", null], [[116, 117, 118, 119, 120, 121, 122, 123, 124], "collision", [8.95, 15.13, 15.28, 13.32, 20.27, 14.8, 13.12, 13.01, 12.44]], [125, "lost_success", null], [[125, 126, 127, 128, 129, 130, 131, 132], "collision", [11.88, 10.58, 11.6, 10.13, 9.35, 10.0, 10.18, 11.55]], [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, 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", [10.1, 11.52, 12.18, 9.45, 9.63, 11.35, 7.26, 8.57, 10.43, 9.1, 9.45, 8.21, 8.64, 7.5, 8.81, 11.49, 9.6, 10.52, 9.86, 10.07, 10.36, 10.52, 11.88, 9.71, 9.49, 9.38, 9.46, 9.92, 7.78, 10.31, 8.53, 9.15, 8.63, 9.96, 11.57, 11.48, 10.29, 9.6, 9.03, 8.76, 8.17, 7.42, 8.38, 10.1, 8.91, 9.07, 7.45, 8.92, 8.98, 8.71, 9.04, 7.32, 9.38, 9.71, 11.38, 9.21, 8.62, 7.81, 9.53, 9.99, 8.02, 9.79, 8.85, 9.41, 11.25, 9.58, 9.8]]], + "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": 26, + "task_plan_idx": 118, + "init_config_idx": 103, + "spawn_selection_idx": 92, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5], "collision", [595.38]], [16, "contact", null], [16, "grasped", null], [33, "success", null], [47, "lost_success", null], [48, "success", null], [[78, 79, 80, 81, 82, 83, 84, 86, 99, 100, 101, 102, 103, 104], "collision", [13.66, 20.22, 15.04, 6.27, 8.74, 10.43, 4.7, 6.59, 68.07, 6.96, 25.37, 36.48, 55.7, 59.96]], [105, "lost_success", null], [[105], "collision", [42.62]], [106, "success", null], [[106, 107, 108, 109, 110], "collision", [44.42, 70.44, 54.16, 81.02, 4.61]], [116, "lost_success", null], [125, "success", null], [126, "lost_success", null], [127, "success", null], [144, "lost_success", null], [145, "success", null], [[158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 171], "collision", [86.07, 126.12, 76.73, 126.14, 83.23, 83.69, 39.67, 56.99, 7.37, 29.14, 10.81]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 27, + "task_plan_idx": 140, + "init_config_idx": 45, + "spawn_selection_idx": 85, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[20, "contact", null], [20, "grasped", null], [[30, 32, 33], "collision", [65.83, 1117.05, 6.24]], [41, "success", null], [[42, 44, 45, 46, 47, 48], "collision", [36.03, 190.38, 17.23, 93.64, 61.68, 21.2]], [50, "lost_success", null], [70, "success", null], [71, "lost_success", null], [79, "success", null], [95, "lost_success", null], [96, "success", null], [98, "lost_success", null], [99, "success", null], [112, "lost_success", null], [113, "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": 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": 28, + "task_plan_idx": 130, + "init_config_idx": 27, + "spawn_selection_idx": 61, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 7, 8, 9, 10], "collision", [751.59, 197.35, 184.12, 547.63, 604.42]], [13, "contact", null], [13, "grasped", null], [[14, 15, 19], "collision", [0.84, 1.45, 18.5]], [31, "success", null], [40, "lost_success", null], [42, "success", null], [47, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [71, "lost_success", null], [73, "success", null], [75, "lost_success", null], [76, "success", null], [78, "lost_success", null], [81, "success", null], [88, "lost_success", null], [89, "success", null], [99, "lost_success", null], [100, "success", null], [122, "lost_success", null], [123, "success", null], [124, "lost_success", null], [126, "success", null], [127, "lost_success", null], [128, "success", null], [179, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 28, + "task_plan_idx": 149, + "init_config_idx": 43, + "spawn_selection_idx": 25, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [318.82, 267.13, 145.36, 134.98]], [17, "contact", null], [17, "grasped", null], [[17, 18, 19, 20, 21, 22], "collision", [207.92, 20.21, 4.78, 11.77, 1.41, 8.65]], [39, "success", null], [[41, 42, 43, 44, 45, 46, 47, 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], "collision", [21.15, 32.49, 40.69, 41.19, 51.11, 41.12, 55.65, 47.48, 61.15, 47.05, 55.5, 64.2, 66.09, 68.71, 73.72, 81.04, 74.83, 57.18, 58.48, 58.87, 30.76, 32.54, 20.56, 33.63, 18.34, 37.11, 24.15, 25.33, 22.63, 35.09, 21.31, 29.88, 24.62, 41.98, 27.48, 50.05, 35.76, 48.21, 58.61, 33.72, 36.24, 39.94, 45.53, 45.42, 41.77, 51.98, 63.41, 59.65, 58.62, 62.33, 56.78, 61.05, 58.98, 60.73, 61.56, 56.4, 55.9, 65.04, 65.38, 57.66, 63.86, 57.91, 67.38, 34.87, 36.91, 63.52, 52.88, 54.37, 44.85, 28.27, 27.34, 7.98, 13.82, 10.45, 15.73]], [117, "lost_success", null], [118, "success", null], [[118, 121, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [7.55, 0.77, 40.11, 48.52, 4.56, 8.54, 13.5, 12.17, 12.72, 6.27, 13.95, 30.68, 1.36, 2.28, 23.12, 46.81, 3.41, 12.02, 34.94]]], + "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": 29, + "task_plan_idx": 155, + "init_config_idx": 82, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12, 13], "collision", [1.69, 198.96, 193.64, 32.08, 136.79]], [14, "contact", null], [[14], "collision", [280.64]], [15, "grasped", null], [32, "success", null], [[36, 37, 38, 39, 40, 41, 42, 45, 46, 47, 48], "collision", [14.28, 9.45, 7.22, 12.99, 5.84, 13.1, 10.61, 5.66, 8.95, 6.22, 3.39]], [52, "lost_success", null], [53, "success", null], [106, "lost_success", null], [110, "success", null], [111, "lost_success", null], [134, "success", null], [146, "lost_success", null], [147, "success", null], [186, "lost_success", null], [188, "success", null], [189, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null], [196, "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": 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": 30, + "task_plan_idx": 60, + "init_config_idx": 18, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 17, 19, 20], "collision", [180.88, 187.5, 118.96, 73.04, 103.26, 2135.16]], [21, "contact", null], [21, "grasped", null], [[30], "collision", [685.18]], [41, "success", null], [42, "lost_success", null], [44, "success", null], [119, "lost_success", null], [139, "success", null], [141, "lost_success", null], [144, "success", null], [150, "lost_success", null], [177, "success", null], [179, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 30, + "task_plan_idx": 136, + "init_config_idx": 3, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 4, 5, 21], "collision", [828.37, 687.09, 506.49, 80.7]], [24, "contact", null], [[24], "collision", [486.41]], [25, "grasped", null], [47, "success", null], [61, "lost_success", null], [62, "success", null], [63, "lost_success", null], [64, "success", null], [73, "lost_success", null], [74, "success", null], [78, "lost_success", null], [79, "success", null], [84, "lost_success", null], [85, "success", null], [95, "lost_success", null], [96, "success", null], [99, "lost_success", null], [100, "success", null], [106, "lost_success", null], [111, "success", null], [113, "lost_success", null], [115, "success", null], [116, "lost_success", null], [117, "success", null], [128, "lost_success", null], [130, "success", null], [131, "lost_success", null], [132, "success", null], [139, "lost_success", null], [141, "success", null], [148, "lost_success", null], [156, "success", null], [158, "lost_success", null], [161, "success", null], [186, "lost_success", null], [189, "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": 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": 31, + "task_plan_idx": 101, + "init_config_idx": 26, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [2152.76]], [21, "contact", null], [22, "grasped", null], [44, "success", null], [89, "lost_success", null], [90, "success", null], [118, "lost_success", null], [137, "success", null], [138, "lost_success", null], [140, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [153, "success", null], [160, "lost_success", null], [161, "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": 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": 32, + "task_plan_idx": 170, + "init_config_idx": 123, + "spawn_selection_idx": 18, + "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, 30], "collision", [502.68, 196.94, 222.01, 106.51, 47.0, 4.44, 389.29, 254.23]], [34, "contact", null], [34, "grasped", null], [84, "success", null], [101, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [128, "lost_success", null], [129, "success", null], [181, "lost_success", null], [183, "success", null], [189, "lost_success", null], [193, "success", null]], + "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": 32, + "task_plan_idx": 147, + "init_config_idx": 12, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15, 21, 23, 24, 25, 26], "collision", [455.48, 371.07, 544.52, 128.81, 219.7, 433.65, 267.6, 328.12]], [30, "contact", null], [30, "grasped", null], [[30, 54, 55, 56, 59, 61, 62, 63, 64], "collision", [344.77, 25.87, 39.28, 7.37, 49.08, 33.8, 44.13, 28.48, 21.2]], [87, "success", null], [96, "lost_success", null], [98, "success", null], [99, "lost_success", null], [102, "success", null], [118, "lost_success", null], [119, "success", null], [123, "lost_success", null], [124, "success", null], [134, "lost_success", null], [135, "success", null], [145, "lost_success", null], [146, "success", null], [159, "lost_success", null], [160, "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": 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": 33, + "task_plan_idx": 64, + "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": [[[6, 7, 8, 9], "collision", [287.28, 280.61, 188.46, 130.49]], [15, "contact", null], [[15], "collision", [5.19]], [16, "grasped", null], [[16], "collision", [3.68]], [44, "success", null], [57, "lost_success", null], [70, "success", null], [73, "lost_success", null], [74, "success", null], [75, "lost_success", null], [86, "success", null], [94, "lost_success", null], [[94], "collision", [48.94]], [95, "success", null], [96, "lost_success", null], [102, "success", null], [103, "lost_success", null], [105, "success", null], [106, "lost_success", null], [116, "success", null], [120, "lost_success", null], [122, "success", null], [[137, 138], "collision", [106.55, 34.31]], [139, "lost_success", null], [161, "success", null], [173, "lost_success", null], [183, "success", null], [185, "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": 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": 34, + "task_plan_idx": 48, + "init_config_idx": 8, + "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], [16, "grasped", null], [31, "success", null], [61, "lost_success", null], [65, "success", null], [77, "lost_success", null], [78, "success", null], [97, "lost_success", null], [103, "success", null], [107, "lost_success", null], [112, "success", null], [154, "lost_success", null], [156, "success", null], [157, "lost_success", null], [159, "success", null], [160, "lost_success", null], [162, "success", null]], + "articulation_type": "fridge", + "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": 34, + "task_plan_idx": 69, + "init_config_idx": 107, + "spawn_selection_idx": 3, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7], "collision", [817.7, 599.05]], [11, "contact", null], [11, "grasped", null], [[11, 14, 15, 16, 17], "collision", [0.9, 30.39, 58.29, 37.78, 33.7]], [30, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [[49], "collision", [1.42]], [50, "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, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110], "collision", [1.16, 5.29, 8.46, 2.05, 3.62, 5.06, 3.21, 3.49, 3.86, 2.19, 2.13, 4.34, 2.08, 1.82, 2.13, 9.09, 6.68, 5.12, 5.05, 5.03, 5.11, 5.13, 5.1, 5.06, 5.06, 5.08, 5.1, 5.06, 5.13, 5.1, 5.12, 5.1, 5.05, 5.11, 5.06, 5.04, 5.09, 5.08, 5.11, 5.09, 5.12, 5.1, 5.08, 5.05, 5.11, 5.1, 5.12, 5.11, 5.02, 5.11, 5.09, 5.1, 5.11, 5.13, 5.13, 5.13, 5.06]], [111, "lost_success", null], [[111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124], "collision", [5.08, 5.12, 5.1, 5.1, 5.09, 5.1, 5.1, 41.7, 34.01, 32.04, 34.95, 35.64, 34.27, 32.75]], [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], "collision", [31.91, 32.43, 32.31, 34.42, 32.6, 33.25, 32.58, 32.45, 32.6, 32.81, 32.53, 33.66, 32.72, 33.43, 33.43, 32.84, 32.61, 33.15, 33.01, 32.05, 32.79, 32.59, 33.17, 33.81, 32.93, 32.44, 33.22, 34.6, 33.02, 32.76]], [155, "lost_success", null], [[155], "collision", [32.97]], [156, "success", null], [[156], "collision", [33.02]], [157, "lost_success", null], [[157], "collision", [33.39]], [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, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [34.29, 34.6, 34.87, 33.68, 5.22, 27.6, 33.64, 33.26, 35.13, 34.1, 35.06, 34.52, 34.66, 33.53, 33.59, 34.59, 34.81, 34.4, 35.66, 34.56, 34.38, 35.15, 36.03, 34.43, 34.23, 34.11, 34.17, 34.95, 35.47, 34.06, 34.35, 34.64, 5.08, 21.56, 5.14, 34.78, 35.83, 35.11, 35.49, 34.95, 28.65, 35.01]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 34, + "task_plan_idx": 125, + "init_config_idx": 83, + "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], [[16, 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, 46, 47, 48, 49, 50], "collision", [27.68, 20.09, 19.3, 15.68, 17.38, 17.59, 19.53, 18.68, 12.47, 257.14, 172.22, 226.98, 234.66, 110.87, 21.16, 19.67, 19.69, 18.98, 19.43, 19.1, 19.91, 19.44, 19.3, 18.99, 19.28, 19.53, 19.85, 19.43, 19.09, 19.65, 20.02, 20.73, 19.84, 20.03, 21.45]], [51, "success", null], [[51], "collision", [20.87]], [52, "lost_success", null], [[52], "collision", [20.21]], [53, "success", null], [[53], "collision", [20.71]], [54, "lost_success", null], [[54, 55], "collision", [19.94, 20.33]], [56, "success", null], [[56, 57, 58, 59, 60], "collision", [20.01, 20.25, 20.32, 19.89, 20.94]], [61, "lost_success", null], [[61, 62, 63], "collision", [20.16, 19.92, 19.56]], [64, "success", null], [[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], "collision", [20.8, 20.9, 20.36, 20.68, 21.21, 19.73, 20.58, 20.26, 20.77, 21.01, 20.54, 20.12, 19.69, 20.1, 20.32, 20.56, 20.69, 19.87, 19.52, 19.77, 20.79, 20.4, 20.72, 20.71, 20.48, 20.58, 19.61, 19.36, 19.98, 20.3, 19.79, 19.62, 20.24, 20.18, 19.93, 20.4, 19.86, 20.09, 19.7, 19.75, 20.19, 20.43, 20.48, 20.73, 20.32, 20.23, 20.28, 20.67, 19.85, 19.71, 20.23, 19.85, 20.45, 20.02, 20.07, 20.35, 19.78, 20.26, 20.47, 20.44, 20.34, 20.34, 20.4, 20.57, 20.52, 20.57, 20.36, 20.22, 20.64, 20.6, 20.45, 20.45, 20.05, 20.17, 20.35, 20.35, 20.47, 20.19, 20.38, 20.75, 20.55, 20.43, 19.56, 18.86]], [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], "collision", [20.4, 21.08, 19.76, 19.68, 19.96, 105.93, 130.9, 105.25, 87.0, 21.92, 21.94, 21.11, 21.88, 19.77, 19.79, 20.63, 21.25, 21.51, 21.44, 21.49, 20.92, 21.9, 21.21]], [171, "success", null], [[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", [20.93, 20.48, 21.17, 22.0, 21.38, 20.79, 21.03, 21.06, 20.74, 21.31, 21.21, 20.87, 21.55, 21.15, 21.3, 20.98, 21.27, 21.06, 21.29, 20.94, 21.1, 21.36, 21.31, 21.57, 21.08, 21.47, 21.48, 21.0, 20.93]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 41, + "init_config_idx": 22, + "spawn_selection_idx": 77, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16], "collision", [60.65, 139.43]], [18, "contact", null], [19, "grasped", null], [44, "success", null], [45, "lost_success", null], [55, "success", null], [59, "lost_success", null], [60, "success", null], [67, "lost_success", null], [101, "success", null], [[111, 112, 113, 117, 118, 120], "collision", [120.63, 59.46, 110.5, 41.31, 10.18, 5.86]], [123, "lost_success", null], [129, "success", null], [130, "lost_success", null], [148, "success", null], [[184], "collision", [429.15]], [185, "lost_success", null], [[185], "collision", [318.36]], [186, "success", null], [[186, 187, 188, 189, 190, 191], "collision", [253.03, 251.6, 376.1, 325.99, 282.3, 208.82]], [192, "lost_success", null], [[192, 193, 194, 195], "collision", [363.19, 250.59, 260.21, 234.08]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 35, + "task_plan_idx": 40, + "init_config_idx": 101, + "spawn_selection_idx": 50, + "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", [545.44, 243.6, 219.46, 206.57, 165.55, 178.8]], [15, "contact", null], [16, "grasped", null], [39, "success", null], [60, "lost_success", null], [64, "success", null], [65, "lost_success", null], [67, "success", null], [[72, 78, 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, 108, 109, 115, 116, 117, 119, 120, 122, 123, 124, 126, 129], "collision", [297.15, 57.55, 55.65, 78.81, 12.37, 38.62, 89.62, 94.88, 90.64, 78.82, 85.57, 137.21, 97.05, 101.22, 95.61, 60.85, 30.33, 99.94, 70.43, 70.55, 3.82, 54.83, 88.88, 39.19, 28.06, 26.85, 19.94, 11.1, 1.17, 60.37, 65.1, 23.3, 1.39, 18.21, 2.51, 27.11, 22.5, 18.82, 35.27]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 35, + "task_plan_idx": 137, + "init_config_idx": 20, + "spawn_selection_idx": 18, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 10, 11, 12, 13, 14, 17], "collision", [146.71, 882.74, 220.99, 182.09, 89.38, 139.69, 47.35]], [20, "contact", null], [20, "grasped", null], [[21], "collision", [1098.9]], [43, "success", null], [45, "lost_success", null], [46, "success", null], [69, "lost_success", null], [70, "success", null], [102, "lost_success", null], [107, "success", null], [122, "lost_success", null], [123, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [161, "lost_success", null], [162, "success", null], [182, "lost_success", null], [183, "success", null], [184, "lost_success", null], [189, "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": 36, + "task_plan_idx": 46, + "init_config_idx": 70, + "spawn_selection_idx": 93, + "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], "collision", [285.33, 224.5, 167.86, 166.21, 138.73, 198.49, 94.57]], [14, "contact", null], [14, "grasped", null], [[14], "collision", [1057.32]], [31, "success", null], [33, "lost_success", null], [34, "success", null], [35, "lost_success", null], [40, "success", null], [43, "lost_success", null], [44, "success", null], [45, "lost_success", null], [47, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 36, + "task_plan_idx": 55, + "init_config_idx": 134, + "spawn_selection_idx": 81, + "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], "collision", [240.6, 223.75, 210.85, 211.98, 157.87, 526.0, 250.54]], [14, "contact", null], [15, "grasped", null], [29, "success", null], [36, "lost_success", null], [37, "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": 36, + "task_plan_idx": 88, + "init_config_idx": 185, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 12, 13, 14, 15], "collision", [976.51, 270.7, 147.73, 156.81, 101.35]], [17, "contact", null], [17, "grasped", null], [38, "success", null], [42, "lost_success", null], [43, "success", null], [68, "lost_success", null], [69, "success", null], [116, "lost_success", null], [117, "success", null], [134, "lost_success", null], [135, "success", null], [147, "lost_success", null], [148, "success", null], [161, "lost_success", null], [162, "success", null], [171, "lost_success", null], [172, "success", null], [179, "lost_success", null], [181, "success", null], [184, "lost_success", null], [186, "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": 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": 37, + "task_plan_idx": 50, + "init_config_idx": 91, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16, 17, 21], "collision", [39.22, 170.98, 162.57, 145.19, 256.64, 259.43, 526.91]], [22, "contact", null], [22, "grasped", null], [52, "success", null], [86, "lost_success", null], [91, "success", null], [94, "lost_success", null], [98, "success", null], [102, "lost_success", null], [103, "success", null], [134, "lost_success", null], [135, "success", null], [150, "lost_success", null], [151, "success", null], [171, "lost_success", null], [172, "success", null], [178, "lost_success", null], [179, "success", null], [181, "lost_success", null], [182, "success", null], [199, "lost_success", null]], + "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": 37, + "task_plan_idx": 57, + "init_config_idx": 126, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13], "collision", [4062.75, 96.25, 76.56]], [16, "contact", null], [17, "grasped", null], [102, "success", null], [103, "lost_success", null], [104, "success", null], [134, "lost_success", null], [166, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 38, + "task_plan_idx": 4, + "init_config_idx": 60, + "spawn_selection_idx": 37, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 12], "collision", [231.41, 19.06]], [18, "contact", null], [18, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37], "collision", [11.57, 14.66, 21.24, 15.74, 13.88, 19.39, 10.09, 11.18, 10.23, 9.95, 9.39, 12.03, 10.85, 10.2, 8.1, 9.86, 11.34, 7.27, 9.07]], [38, "success", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46, 47], "collision", [7.76, 7.42, 8.72, 6.76, 8.57, 5.65, 5.58, 8.53, 7.56, 8.0]], [48, "lost_success", null], [[48, 49, 50], "collision", [9.53, 9.29, 7.2]], [51, "success", null], [[51], "collision", [7.55]], [52, "lost_success", null], [[52, 53, 54, 55, 56, 57, 58, 59], "collision", [8.56, 6.22, 7.51, 7.33, 10.19, 7.18, 5.11, 7.81]], [60, "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, 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], "collision", [5.85, 7.94, 5.96, 8.38, 7.75, 9.69, 6.82, 8.54, 6.83, 6.98, 9.0, 7.48, 8.23, 6.82, 10.55, 6.72, 6.98, 10.19, 8.17, 9.11, 8.67, 9.54, 11.29, 9.59, 9.82, 7.09, 6.09, 7.63, 7.71, 7.7, 5.97, 7.92, 6.95, 8.24, 5.88, 6.66, 7.82, 5.4, 6.22, 7.74, 5.93, 4.33, 3.24, 7.19, 11.37, 9.6, 6.88, 9.07, 8.37, 8.02, 8.24, 10.08, 9.44, 7.72, 11.62, 10.82, 9.25, 6.73, 6.27, 4.89, 4.73, 5.87]], [122, "lost_success", null], [[122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132], "collision", [8.79, 7.5, 10.49, 6.06, 8.21, 9.03, 8.3, 9.45, 6.37, 4.37, 8.05]], [133, "success", null], [[133], "collision", [7.39]], [134, "lost_success", null], [[134, 135, 136], "collision", [9.09, 6.85, 8.44]], [137, "success", null], [[137, 138, 139, 140, 141, 142, 143, 144, 145], "collision", [10.8, 9.99, 5.38, 9.05, 8.52, 7.45, 7.95, 7.68, 9.41]], [146, "lost_success", null], [[146, 147], "collision", [6.76, 8.57]], [148, "success", null], [[148, 149], "collision", [8.35, 8.29]], [150, "lost_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, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [10.06, 8.22, 7.64, 11.7, 7.6, 10.52, 9.16, 8.39, 9.14, 6.94, 11.58, 3.78, 7.03, 7.64, 8.65, 8.12, 4.23, 7.31, 9.48, 10.79, 9.78, 9.4, 7.73, 11.65, 8.59, 11.33, 10.04, 8.57, 8.33, 7.47, 7.91, 10.96, 12.4, 9.19, 12.09, 10.17, 11.08, 9.39, 12.3, 7.11, 6.95, 7.87, 8.3, 6.79, 12.34, 10.83, 10.17, 13.37, 8.71, 12.61]]], + "articulation_type": "fridge", + "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": 38, + "task_plan_idx": 97, + "init_config_idx": 105, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [249.6]], [24, "contact", null], [24, "grasped", null], [43, "success", null], [46, "lost_success", null], [47, "success", null]], + "articulation_type": "fridge", + "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": 39, + "task_plan_idx": 31, + "init_config_idx": 67, + "spawn_selection_idx": 63, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [31, "success", null], [32, "lost_success", null], [34, "success", null], [45, "lost_success", null], [53, "success", null], [75, "lost_success", null], [155, "success", null], [158, "lost_success", null], [162, "success", null], [163, "lost_success", null], [164, "success", null], [166, "lost_success", null], [167, "success", null], [168, "lost_success", null], [169, "success", null], [176, "lost_success", null], [178, "success", null], [198, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 39, + "task_plan_idx": 1, + "init_config_idx": 137, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 19, 20], "collision", [199.81, 100.45, 106.98]], [22, "contact", null], [22, "grasped", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [61, "lost_success", null], [63, "success", null], [68, "lost_success", null], [69, "success", null], [88, "lost_success", null], [89, "success", null], [91, "lost_success", null], [96, "success", null], [109, "lost_success", null], [114, "success", null], [145, "lost_success", null], [148, "success", null], [156, "lost_success", null], [158, "success", null], [193, "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": 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": 39, + "task_plan_idx": 51, + "init_config_idx": 127, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14], "collision", [4.61, 1978.8]], [19, "contact", null], [19, "grasped", null], [[19, 27], "collision", [175.7, 35.09]], [38, "success", null], [39, "lost_success", null], [42, "success", null], [[43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58], "collision", [72.28, 41.23, 34.65, 43.45, 38.13, 39.55, 29.28, 31.15, 31.91, 29.34, 39.25, 40.53, 35.82, 36.75, 64.42, 63.23]], [63, "lost_success", null], [65, "success", null], [[65, 69], "collision", [136.27, 51.04]], [70, "lost_success", null], [72, "success", null], [76, "lost_success", null], [77, "success", null], [[77], "collision", [369.34]], [78, "lost_success", null], [[79], "collision", [17.6]], [80, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 103, 105, 107, 108, 112, 113, 114, 129, 130, 132, 133, 134, 135, 136, 137, 138, 139, 142, 144, 146, 149], "collision", [59.97, 110.68, 104.17, 84.54, 48.5, 35.38, 42.13, 37.3, 23.63, 11.17, 30.83, 22.59, 34.26, 46.94, 65.83, 61.28, 103.13, 86.27, 33.05, 40.92, 0.46, 28.39, 21.51, 8.96, 12.22, 12.45, 4.75, 11.83, 2.47, 8.71, 5.95, 11.24, 22.26, 2.78, 2.14, 11.32, 16.26]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 40, + "task_plan_idx": 30, + "init_config_idx": 9, + "spawn_selection_idx": 82, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [1113.4, 314.34]], [17, "contact", null], [17, "grasped", null], [[18], "collision", [431.39]], [40, "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": 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": 40, + "task_plan_idx": 75, + "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": [[[3, 4, 5, 6, 7], "collision", [1514.3, 412.0, 311.12, 260.29, 234.6]], [10, "contact", null], [10, "grasped", null], [31, "success", null], [32, "lost_success", null], [35, "success", null], [36, "lost_success", null], [37, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 40, + "task_plan_idx": 86, + "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": [[[9, 10, 11, 12, 13], "collision", [250.99, 250.4, 229.52, 205.72, 178.9]], [17, "contact", null], [17, "grasped", null], [[26], "collision", [1926.71]], [32, "success", null], [54, "lost_success", null], [55, "success", null], [58, "lost_success", null], [59, "success", null], [63, "lost_success", null], [[63], "collision", [46.76]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 75], "collision", [110.87, 50.08, 76.64, 93.66, 106.51, 82.79, 121.6, 112.36, 99.26, 129.51]], [78, "lost_success", null], [79, "success", null], [[84, 86, 87, 88, 89, 90], "collision", [82.83, 10.79, 0.98, 27.2, 24.88, 46.87]], [97, "lost_success", null], [99, "success", null], [101, "lost_success", null], [102, "success", null], [106, "lost_success", null], [141, "success", null], [159, "lost_success", null], [164, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 41, + "task_plan_idx": 94, + "init_config_idx": 128, + "spawn_selection_idx": 55, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[12, "contact", null], [14, "grasped", null], [29, "success", null], [31, "lost_success", null], [32, "success", null], [34, "lost_success", null], [36, "success", null], [[116, 117], "collision", [97.25, 52.98]], [118, "lost_success", null], [[118], "collision", [77.72]], [119, "success", null], [[119, 120], "collision", [50.19, 43.08]], [121, "lost_success", null], [[121, 122, 123], "collision", [67.09, 55.53, 5.74]], [124, "success", null], [126, "lost_success", null], [[126, 127, 128, 129, 130], "collision", [77.52, 58.9, 83.26, 115.59, 85.91]], [131, "success", null], [[131, 132, 133, 134], "collision", [58.07, 57.78, 73.2, 75.07]], [135, "lost_success", null], [[135], "collision", [76.58]], [136, "success", null], [[136], "collision", [4.42]], [137, "lost_success", null], [[137, 138, 139, 140, 141, 142, 145, 147], "collision", [64.31, 98.37, 3.99, 2.86, 30.69, 21.49, 47.09, 71.17]], [148, "success", null], [[148, 149, 150, 151, 152, 153, 154, 155], "collision", [69.02, 81.36, 89.71, 79.75, 54.9, 23.7, 33.46, 47.46]], [156, "lost_success", null], [[156, 157, 158, 159], "collision", [102.98, 142.27, 76.3, 79.51]], [160, "success", null], [[160], "collision", [71.82]], [161, "lost_success", null], [[163, 164, 165, 166, 167, 168, 170, 172, 174, 176, 194, 196, 197, 198, 199], "collision", [39.61, 55.47, 25.54, 85.63, 64.11, 21.86, 0.9, 53.66, 70.66, 124.51, 233.04, 97.31, 15.47, 54.16, 64.95]]], + "articulation_type": "fridge", + "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": 42, + "task_plan_idx": 131, + "init_config_idx": 64, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[22, 24], "collision", [254.53, 30.68]], [25, "contact", null], [25, "grasped", null], [[25, 26], "collision", [52.89, 5.74]], [51, "success", null], [58, "lost_success", null], [62, "success", null], [63, "lost_success", null], [69, "success", null], [72, "lost_success", null], [90, "success", null], [97, "lost_success", null], [111, "success", null], [165, "lost_success", null], [167, "success", null], [168, "lost_success", null], [169, "success", null], [178, "lost_success", null], [184, "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": 42, + "task_plan_idx": 33, + "init_config_idx": 92, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10], "collision", [309.65, 208.93, 148.53, 14.0]], [19, "contact", null], [19, "grasped", null], [[19, 34, 35, 36, 37], "collision", [3585.18, 0.43, 1.92, 1.92, 1.42]], [40, "success", null], [43, "lost_success", null], [45, "success", null], [48, "lost_success", null], [72, "success", null], [73, "lost_success", null], [74, "success", null], [169, "lost_success", null], [171, "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": 43, + "task_plan_idx": 59, + "init_config_idx": 98, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 4, 5, 6, 7, 8, 9, 10], "collision", [268.22, 165.53, 462.56, 192.78, 163.23, 146.63, 156.99, 141.23]], [14, "contact", null], [14, "grasped", null], [[14, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "collision", [8.21, 1.81, 73.0, 37.54, 6.89, 3.57, 3.32, 4.02, 4.05, 3.61, 3.32, 2.33, 2.31, 1.91, 1.94, 2.22, 1.98, 2.06, 1.69, 2.38]], [36, "success", null], [[36], "collision", [2.4]], [37, "lost_success", null], [[37], "collision", [1.88]], [38, "success", null], [[38, 39, 43, 47, 48, 51, 55, 65, 66], "collision", [1.03, 0.01, 0.44, 0.43, 0.39, 0.53, 0.6, 0.41, 0.2]], [69, "lost_success", null], [[70], "collision", [0.34]], [71, "success", null], [[74, 77, 79, 80], "collision", [0.9, 0.99, 0.25, 0.8]], [81, "lost_success", null], [[82], "collision", [0.55]], [86, "success", null], [[89], "collision", [0.09]], [90, "lost_success", null], [[92, 96, 98, 99, 100, 101, 102, 103, 104, 105, 108, 109, 110, 111, 112, 113, 114, 117, 118, 119, 120, 121], "collision", [0.69, 1.03, 0.47, 1.45, 1.48, 2.31, 1.29, 1.04, 1.09, 0.63, 0.08, 1.77, 1.25, 2.19, 2.47, 2.78, 1.17, 1.39, 2.29, 0.6, 1.42, 1.73]], [122, "success", null], [[122, 123], "collision", [1.55, 0.21]], [124, "lost_success", null], [126, "success", null], [[126, 127], "collision", [0.89, 0.57]], [128, "lost_success", null], [130, "success", null], [[130, 131, 132, 133, 134], "collision", [0.34, 0.02, 0.29, 1.02, 1.5]], [135, "lost_success", null], [[135], "collision", [1.69]], [136, "success", null], [[136, 137, 138], "collision", [1.98, 2.32, 1.61]], [139, "lost_success", null], [[139, 140, 141, 144, 145, 146, 147, 148, 149], "collision", [1.94, 0.2, 0.48, 0.42, 1.3, 1.46, 1.46, 0.94, 1.08]], [150, "success", null], [[150], "collision", [1.63]], [151, "lost_success", null], [[151], "collision", [1.9]], [152, "success", null], [[152, 153, 154, 155, 156, 157, 158, 159, 160], "collision", [1.29, 1.42, 2.24, 1.94, 2.21, 1.65, 2.4, 1.24, 2.32]], [161, "lost_success", null], [[161], "collision", [2.84]], [162, "success", null], [[162, 163, 164, 165, 166, 167], "collision", [2.49, 2.6, 2.62, 2.5, 2.71, 3.19]], [168, "lost_success", null], [[168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180], "collision", [1.66, 2.36, 1.88, 2.16, 1.37, 1.87, 2.98, 2.75, 3.11, 3.43, 3.14, 3.32, 1.76]], [181, "success", null], [[181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [3.06, 1.67, 2.17, 2.35, 1.93, 1.27, 1.56, 2.26, 2.17, 2.61, 2.23, 1.57, 2.82, 1.82, 3.16, 1.67, 2.23, 2.45, 2.73]]], + "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": 43, + "task_plan_idx": 35, + "init_config_idx": 5, + "spawn_selection_idx": 5, + "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], [185, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 43, + "task_plan_idx": 82, + "init_config_idx": 14, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 9, 10, 12], "collision", [1210.94, 276.52, 172.81, 166.54, 80.66, 91.37, 141.0]], [18, "contact", null], [18, "grasped", null], [[18], "collision", [242.87]], [59, "success", null], [148, "lost_success", null], [159, "success", null], [160, "lost_success", null], [172, "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": 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": 44, + "task_plan_idx": 92, + "init_config_idx": 41, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 16, 17, 18, 19], "collision", [123.64, 275.18, 271.9, 139.16, 163.99]], [20, "contact", null], [[20, 21], "collision", [118.44, 236.26]], [22, "grasped", null], [[22, 23, 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, 54, 55, 56, 57], "collision", [112.16, 8.54, 47.17, 1.66, 3.1, 3.1, 1.68, 4.71, 2.54, 2.5, 2.45, 8.31, 6.05, 5.56, 5.65, 5.5, 5.71, 6.14, 6.67, 5.85, 6.08, 6.46, 6.65, 6.93, 7.02, 6.75, 7.08, 6.96, 6.93, 6.96, 7.15, 6.92, 7.16, 7.03, 7.23]], [58, "success", null], [[58, 59, 60, 61, 62], "collision", [6.95, 7.13, 7.03, 6.86, 7.23]], [63, "lost_success", null], [[63, 64], "collision", [7.06, 7.37]], [65, "success", null], [[65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82], "collision", [6.83, 7.41, 7.37, 7.47, 7.33, 7.51, 7.71, 7.54, 7.35, 7.9, 8.14, 7.67, 7.32, 7.48, 7.59, 7.71, 7.41, 7.33]], [83, "lost_success", null], [[83, 84, 85, 86, 87, 88, 89, 90], "collision", [7.76, 7.33, 7.33, 7.4, 7.73, 7.55, 7.66, 8.32]], [91, "success", null], [[91], "collision", [7.99]], [92, "lost_success", null], [[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", [7.72, 7.66, 7.44, 8.3, 7.95, 8.08, 8.31, 8.64, 8.71, 9.21, 8.45, 8.64, 7.92, 8.74, 8.82, 8.58, 8.69, 8.81, 8.79, 8.56, 8.88, 9.35, 8.88, 9.11, 9.46, 9.14, 0.28, 0.24, 0.21, 0.66, 0.14]], [129, "success", null], [160, "lost_success", null]], + "articulation_type": "fridge", + "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": 45, + "task_plan_idx": 91, + "init_config_idx": 88, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 30, 31, 32], "collision", [34.0, 212.28, 211.21, 118.82]], [35, "contact", null], [36, "grasped", null], [69, "success", null], [72, "lost_success", null], [76, "success", null], [77, "lost_success", null], [78, "success", null], [96, "lost_success", null], [97, "success", null], [99, "lost_success", null], [160, "success", null], [168, "lost_success", null], [169, "success", null], [173, "lost_success", null], [175, "success", null], [176, "lost_success", null], [181, "success", null], [182, "lost_success", null], [183, "success", null], [191, "lost_success", null], [192, "success", null], [194, "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": 45, + "task_plan_idx": 53, + "init_config_idx": 152, + "spawn_selection_idx": 97, + "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], [32, "lost_success", null], [34, "success", null], [44, "lost_success", null], [47, "success", null], [62, "lost_success", null], [69, "success", null], [91, "lost_success", null], [93, "success", null], [[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, 173, 174, 175, 176, 177, 178, 180, 181, 182, 183, 184, 185, 186, 187, 188, 195, 196], "collision", [12.3, 35.42, 18.17, 19.61, 26.08, 39.32, 32.41, 36.9, 27.94, 29.77, 33.87, 29.35, 23.84, 15.19, 16.75, 21.08, 18.42, 21.15, 24.47, 28.22, 14.5, 22.36, 22.67, 22.63, 23.51, 27.06, 34.29, 30.31, 13.1, 20.24, 11.99, 9.74, 6.91, 14.96, 12.7, 11.16, 12.33, 9.76, 6.26, 24.37, 17.94, 14.04, 12.57, 11.73, 11.47, 15.96, 13.16, 9.24, 13.16]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 45, + "task_plan_idx": 127, + "init_config_idx": 60, + "spawn_selection_idx": 2, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[24, "contact", null], [24, "grasped", null], [[25, 39, 40, 41, 42, 43, 44, 45], "collision", [0.11, 17.12, 11.06, 574.98, 253.33, 481.44, 642.74, 346.22]], [46, "success", null], [[46], "collision", [125.48]], [47, "lost_success", null], [[47, 48], "collision", [96.48, 43.58]], [49, "success", null], [[49, 50, 51, 52, 55, 56, 57], "collision", [27.8, 32.53, 23.7, 43.45, 46.27, 26.82, 45.75]], [59, "lost_success", null], [66, "success", null], [68, "lost_success", null], [84, "success", null], [85, "lost_success", null], [93, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 46, + "task_plan_idx": 14, + "init_config_idx": 60, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 14], "collision", [333.68, 320.67, 209.85]], [18, "contact", null], [19, "grasped", null], [45, "success", null], [46, "lost_success", null], [61, "success", null], [62, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [70, "lost_success", null], [71, "success", null], [79, "lost_success", null], [[79], "collision", [3.41]], [80, "success", null], [[80, 81], "collision", [8.22, 52.63]], [82, "lost_success", null], [[82], "collision", [66.62]], [83, "success", null], [[83, 84, 86, 87, 88, 89, 90, 92, 93, 94, 95, 96, 97, 104, 105, 107, 108, 109, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 122, 123, 124, 125, 126, 127, 128, 129, 135, 136, 138, 141, 143, 144, 145, 146], "collision", [32.34, 5.46, 1.76, 34.45, 47.08, 12.69, 32.01, 43.75, 11.45, 49.02, 62.37, 5.47, 34.34, 34.24, 47.78, 53.43, 54.49, 11.92, 38.19, 65.1, 52.35, 38.4, 59.47, 84.2, 17.91, 27.29, 30.24, 42.82, 54.28, 0.85, 55.58, 38.67, 17.44, 7.83, 29.75, 96.87, 98.78, 66.81, 42.07, 11.71, 45.63, 140.74, 39.31, 91.19]], [147, "lost_success", null], [148, "success", null], [[149, 151, 153, 155, 157, 158], "collision", [33.62, 2.07, 13.79, 2.55, 53.21, 25.73]], [167, "lost_success", null], [168, "success", null], [[170, 174, 180, 181, 184, 185], "collision", [14.43, 2.45, 11.37, 39.77, 1.72, 52.37]], [187, "lost_success", null]], + "articulation_type": "fridge", + "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": 46, + "task_plan_idx": 23, + "init_config_idx": 80, + "spawn_selection_idx": 0, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 20], "collision", [1353.32, 1649.42]], [21, "contact", null], [21, "grasped", null], [[21], "collision", [20.37]], [45, "success", null], [47, "lost_success", null], [54, "success", null], [57, "lost_success", null], [63, "success", null], [65, "lost_success", null], [66, "success", null], [76, "lost_success", null], [[78, 79, 80, 81, 84], "collision", [51.83, 113.53, 39.64, 6.47, 53.88]], [85, "success", null], [[85, 86, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99], "collision", [39.19, 11.93, 1.41, 0.09, 14.17, 6.52, 17.28, 6.09, 10.36, 12.44, 8.69, 18.24, 24.46, 97.9]], [100, "lost_success", null], [[100], "collision", [19.28]], [103, "success", null], [[105, 106, 107, 108, 109, 110, 111], "collision", [44.35, 46.54, 49.98, 68.99, 49.83, 30.45, 17.14]], [116, "lost_success", null], [118, "success", null], [119, "lost_success", null], [122, "success", null], [139, "lost_success", null], [[139, 140, 141, 142, 143, 144], "collision", [11.56, 103.14, 78.88, 73.58, 64.45, 54.58]], [149, "success", null], [[157, 158, 159, 160, 161, 163, 164, 165, 166], "collision", [21.64, 31.15, 31.07, 42.81, 14.43, 32.88, 32.16, 0.49, 18.0]], [167, "lost_success", null], [173, "success", null], [174, "lost_success", null], [176, "success", null], [188, "lost_success", null], [189, "success", null], [190, "lost_success", null], [[192, 193, 194, 195, 196], "collision", [21.79, 91.11, 65.56, 27.35, 15.96]]], + "articulation_type": "fridge", + "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": 46, + "task_plan_idx": 40, + "init_config_idx": 92, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [563.01]], [22, "contact", null], [22, "grasped", null], [42, "success", null], [43, "lost_success", null], [49, "success", null], [66, "lost_success", null], [67, "success", null], [[72, 73], "collision", [6.75, 6.51]], [74, "lost_success", null], [[74], "collision", [6.35]], [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, 115, 118, 119, 120, 121, 122, 123, 126, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139], "collision", [6.8, 6.57, 6.68, 6.64, 6.64, 6.6, 6.67, 6.65, 6.61, 6.61, 6.64, 6.63, 6.62, 6.67, 6.65, 6.65, 6.64, 13.1, 13.2, 13.26, 13.09, 12.67, 4.13, 7.74, 5.11, 13.73, 13.83, 12.99, 14.05, 13.99, 14.05, 13.43, 13.79, 4.51, 6.02, 13.05, 13.81, 5.24, 2.3, 7.17, 8.51, 14.45, 13.5, 9.22, 7.41, 0.71, 15.37, 15.39, 15.1, 15.08, 14.21, 13.54, 15.16, 15.24, 14.16, 3.26, 13.99, 16.04]], [140, "lost_success", null], [[140, 141, 142, 143], "collision", [7.87, 7.72, 7.44, 7.35]], [144, "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, 190, 191, 192, 193, 194, 195, 196, 197, 198], "collision", [7.22, 7.19, 7.02, 7.06, 6.92, 6.96, 6.84, 7.14, 7.14, 7.32, 7.27, 7.22, 4.28, 7.52, 7.51, 7.44, 7.39, 14.51, 14.77, 14.93, 15.08, 14.74, 14.61, 14.61, 14.68, 14.75, 14.87, 14.78, 13.45, 12.05, 14.16, 15.24, 15.39, 15.33, 14.97, 14.96, 15.28, 14.98, 14.91, 14.74, 14.73, 6.92, 14.81, 14.32, 12.62, 11.42, 10.38, 15.11, 15.14, 3.4, 14.16, 13.96, 15.5, 15.78]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 47, + "task_plan_idx": 73, + "init_config_idx": 129, + "spawn_selection_idx": 34, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [[31, 32], "collision", [275.43, 88.47]], [95, "success", null], [118, "lost_success", null], [120, "success", null], [121, "lost_success", null], [122, "success", null]], + "articulation_type": "fridge", + "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": 47, + "task_plan_idx": 40, + "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": [[24, "contact", null], [24, "grasped", null], [[42], "collision", [3099.88]], [49, "success", null], [[49, 50], "collision", [19.64, 165.57]], [55, "lost_success", null], [66, "success", null], [67, "lost_success", null], [72, "success", null], [73, "lost_success", null], [75, "success", null], [77, "lost_success", null], [78, "success", null], [87, "lost_success", null], [95, "success", null], [113, "lost_success", null], [114, "success", null], [145, "lost_success", null], [149, "success", null], [150, "lost_success", null], [151, "success", null], [152, "lost_success", null], [153, "success", null], [160, "lost_success", null], [162, "success", null], [163, "lost_success", null], [164, "success", null], [180, "lost_success", null], [181, "success", null], [187, "lost_success", null], [188, "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": 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": 48, + "task_plan_idx": 44, + "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": [[[9, 10, 11, 12, 13], "collision", [377.99, 153.21, 142.82, 203.33, 101.11]], [15, "contact", null], [16, "grasped", null], [56, "success", null], [59, "lost_success", null], [106, "success", null], [113, "lost_success", null], [116, "success", null], [119, "lost_success", null], [191, "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": 48, + "task_plan_idx": 23, + "init_config_idx": 79, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[18, "contact", null], [18, "grasped", null], [[21], "collision", [371.59]], [40, "success", null], [52, "lost_success", null], [73, "success", null], [82, "lost_success", null], [83, "success", null], [[108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 120, 121, 122, 123, 124, 125], "collision", [21.3, 21.25, 22.87, 21.32, 17.49, 14.27, 9.63, 15.24, 9.26, 6.69, 2.55, 6.36, 6.81, 10.99, 9.44, 2.39]], [133, "lost_success", null], [[133], "collision", [65.31]], [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, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170], "collision", [34.87, 26.42, 33.04, 36.54, 23.32, 23.1, 47.27, 34.52, 26.84, 27.51, 20.41, 21.33, 24.35, 23.04, 26.34, 26.38, 27.0, 28.35, 27.2, 26.91, 26.84, 28.2, 28.43, 27.05, 26.54, 25.56, 26.46, 27.16, 27.82, 27.58, 29.56, 30.34, 30.42, 29.09, 30.48, 29.4, 32.02]], [171, "lost_success", null], [[171], "collision", [34.58]], [172, "success", null], [[172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190], "collision", [36.49, 34.76, 34.67, 37.16, 33.77, 38.96, 37.99, 36.4, 37.02, 39.49, 39.45, 37.85, 38.51, 38.84, 34.21, 35.47, 40.41, 39.93, 39.42]], [191, "lost_success", null], [[191], "collision", [40.04]], [192, "success", null], [[192, 193, 194, 195, 196, 197, 198, 199], "collision", [42.4, 40.17, 39.86, 40.72, 39.35, 39.54, 38.35, 37.94]]], + "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": 48, + "task_plan_idx": 18, + "init_config_idx": 34, + "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], [[45, 47, 48], "collision", [3146.71, 316.82, 81.64]], [52, "success", null], [53, "lost_success", null], [[53], "collision", [256.14]], [55, "success", null], [[55, 59], "collision", [110.66, 2.56]], [60, "lost_success", null], [[60, 61], "collision", [0.48, 15.23]], [62, "success", null], [[67, 68, 69, 70, 72], "collision", [34.12, 3.97, 6.89, 26.97, 13.86]], [74, "lost_success", null], [77, "success", null], [81, "lost_success", null], [82, "success", null], [87, "lost_success", null], [88, "success", null], [90, "lost_success", null], [91, "success", null], [95, "lost_success", null], [113, "success", null], [123, "lost_success", null], [126, "success", null], [130, "lost_success", null], [132, "success", null], [133, "lost_success", null], [134, "success", null], [138, "lost_success", null], [140, "success", null], [150, "lost_success", null], [159, "success", null], [182, "lost_success", null], [188, "success", null], [189, "lost_success", null]], + "articulation_type": "fridge", + "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": 49, + "task_plan_idx": 13, + "init_config_idx": 11, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14, 15, 18, 19, 20], "collision", [38.29, 350.15, 489.72, 564.88, 262.31, 116.54]], [21, "contact", null], [21, "grasped", null], [[21], "collision", [52.9]], [54, "success", null], [98, "lost_success", null], [100, "success", null], [104, "lost_success", null], [105, "success", null], [136, "lost_success", null], [138, "success", null], [177, "lost_success", null], [181, "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": 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": 49, + "task_plan_idx": 48, + "init_config_idx": 69, + "spawn_selection_idx": 21, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 22, 23, 25], "collision", [304.18, 333.73, 204.46, 128.44]], [26, "contact", null], [27, "grasped", null], [181, "success", null], [182, "lost_success", null]], + "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": 49, + "task_plan_idx": 131, + "init_config_idx": 45, + "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, 12, 13, 14, 15, 16], "collision", [273.14, 12.61, 190.59, 102.45, 222.4, 246.85, 169.57, 323.66, 300.26, 10.2]], [17, "contact", null], [17, "grasped", null], [[18, 40, 41], "collision", [0.74, 65.6, 27.44]], [43, "success", null], [53, "lost_success", null], [75, "success", null], [104, "lost_success", null], [105, "success", null], [140, "lost_success", null], [144, "success", null], [145, "lost_success", null], [146, "success", null], [[147, 149, 152, 155, 156, 158, 159], "collision", [254.05, 188.47, 1.25, 74.32, 5.24, 76.15, 18.47]], [160, "lost_success", null], [[160], "collision", [81.86]], [161, "success", null], [165, "lost_success", null], [[165], "collision", [373.97]], [166, "success", null], [169, "lost_success", null], [170, "success", null], [171, "lost_success", null], [172, "success", null], [173, "lost_success", null], [174, "success", null], [[177, 179, 180, 181, 183, 184, 186], "collision", [89.45, 1.92, 27.7, 37.1, 108.33, 65.33, 83.04]], [187, "lost_success", null], [[187], "collision", [10.66]], [188, "success", null], [189, "lost_success", null], [190, "success", null], [191, "lost_success", null], [192, "success", null], [193, "lost_success", null], [194, "success", null], [[196], "collision", [1.65]], [197, "lost_success", null], [[197], "collision", [77.98]], [198, "success", null], [[198, 199], "collision", [65.45, 36.28]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 52, + "init_config_idx": 48, + "spawn_selection_idx": 27, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [299.68, 235.87]], [17, "contact", null], [17, "grasped", null], [[17], "collision", [873.72]], [30, "success", null], [35, "lost_success", null], [36, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 77, + "init_config_idx": 113, + "spawn_selection_idx": 37, + "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], [34, "lost_success", null], [36, "success", null], [37, "lost_success", null], [40, "success", null], [62, "lost_success", null], [63, "success", null], [183, "lost_success", null], [184, "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": 50, + "task_plan_idx": 130, + "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": [[16, "contact", null], [16, "grasped", null], [[25, 26, 28, 29], "collision", [327.95, 295.15, 51.8, 59.0]], [32, "success", null], [[32], "collision", [129.96]], [33, "lost_success", null], [[33], "collision", [43.31]], [34, "success", null], [35, "lost_success", null], [[35], "collision", [62.44]], [39, "success", null], [40, "lost_success", null], [[40, 48, 49, 58], "collision", [62.92, 44.54, 118.62, 26.46]], [109, "success", null], [112, "lost_success", null], [139, "success", null], [140, "lost_success", null], [143, "success", null], [157, "lost_success", null], [174, "success", null], [180, "lost_success", null], [181, "success", null], [182, "lost_success", null]], + "articulation_type": "fridge", + "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": 51, + "task_plan_idx": 121, + "init_config_idx": 58, + "spawn_selection_idx": 45, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 10, 16, 17, 18, 19, 20, 21], "collision", [1074.9, 61.73, 813.88, 979.69, 182.16, 41.63, 114.95, 152.89, 364.81]], [22, "contact", null], [22, "grasped", null], [[22, 23, 24, 25, 26], "collision", [326.02, 22.13, 8.13, 6.14, 4.78]], [44, "success", null], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [67, "success", null], [70, "lost_success", null], [72, "success", null], [90, "lost_success", null], [91, "success", null], [96, "lost_success", null], [98, "success", null], [108, "lost_success", null], [109, "success", null], [116, "lost_success", null], [119, "success", null], [127, "lost_success", null], [131, "success", null], [137, "lost_success", null], [138, "success", null], [144, "lost_success", null], [145, "success", null], [149, "lost_success", null], [150, "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": 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": 51, + "task_plan_idx": 5, + "init_config_idx": 91, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [167.87]], [9, "contact", null], [[9], "collision", [258.29]], [10, "lost_contact", null], [11, "contact", null], [11, "grasped", null], [23, "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": 51, + "task_plan_idx": 33, + "init_config_idx": 19, + "spawn_selection_idx": 39, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 15, 16, 17], "collision", [121.29, 144.79, 245.86, 193.18]], [19, "contact", null], [20, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 29, 31, 32, 33], "collision", [9.42, 24.51, 41.55, 34.37, 19.7, 3.05, 3.9, 2.55, 0.05, 0.0, 0.35]], [44, "success", null], [47, "lost_success", null], [89, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 52, + "task_plan_idx": 113, + "init_config_idx": 103, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21], "collision", [22.9]], [22, "contact", null], [22, "grasped", null], [[26, 30, 31, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [1.54, 0.52, 1.74, 28.72, 43.78, 59.6, 20.08, 165.17, 91.43, 94.15, 78.33, 82.07, 69.55, 51.6]], [47, "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, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91], "collision", [36.64, 43.4, 34.51, 35.58, 37.29, 41.89, 32.0, 29.53, 28.02, 38.82, 17.67, 12.63, 7.53, 19.01, 15.07, 25.29, 29.01, 26.09, 24.34, 12.05, 10.84, 12.32, 9.33, 5.85, 7.05, 3.66, 0.87, 2.01, 2.84, 3.68, 3.76, 3.1, 3.45, 2.84, 3.94, 3.26, 2.07, 5.82, 4.0, 6.97, 11.67, 5.41, 14.46, 4.21, 4.37]], [92, "lost_success", null], [[92, 93, 94], "collision", [2.81, 2.81, 2.21]], [95, "success", null], [[95], "collision", [3.25]], [96, "lost_success", null], [[96, 97, 98, 109, 110, 111, 112, 113, 114, 119, 120, 121], "collision", [2.92, 2.82, 34.57, 3.48, 6.65, 6.66, 6.45, 6.15, 6.22, 6.14, 5.67, 5.81]], [122, "success", null], [[122, 123], "collision", [5.83, 6.02]], [124, "lost_success", null], [[124], "collision", [6.2]], [125, "success", null], [[125], "collision", [6.28]], [126, "lost_success", null], [[126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138], "collision", [5.75, 5.94, 6.1, 5.95, 5.84, 5.72, 5.9, 5.82, 6.23, 5.7, 5.76, 5.8, 6.09]], [148, "success", null], [155, "lost_success", null], [156, "success", null], [[165, 166, 167, 168, 169, 170, 171, 172], "collision", [12.5, 11.97, 11.92, 11.94, 12.07, 11.88, 11.99, 11.93]], [173, "lost_success", null], [[173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185], "collision", [12.16, 12.01, 12.01, 11.82, 11.82, 11.47, 11.91, 12.09, 11.86, 11.62, 12.67, 11.64, 11.52]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 52, + "task_plan_idx": 131, + "init_config_idx": 54, + "spawn_selection_idx": 35, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17, 18], "collision", [76.54, 105.24]], [21, "contact", null], [21, "grasped", null], [[35, 41, 43, 44, 45, 46], "collision", [0.72, 29.65, 379.81, 98.45, 63.52, 114.56]], [47, "success", null], [[47], "collision", [40.8]], [48, "lost_success", null], [49, "success", null], [50, "lost_success", null], [51, "success", null], [[99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116], "collision", [0.7, 0.34, 0.34, 0.34, 0.33, 0.34, 0.34, 0.36, 0.35, 0.35, 0.35, 0.33, 0.32, 0.33, 0.32, 0.31, 0.31, 0.37]], [117, "lost_success", null], [[117, 118, 119, 120, 121, 122, 123, 124, 125], "collision", [0.64, 0.4, 0.36, 0.33, 0.33, 0.34, 0.34, 0.33, 0.32]], [126, "success", null], [[126], "collision", [0.28]], [134, "lost_success", null], [139, "success", null], [[158, 159, 160, 161, 162, 163], "collision", [0.41, 0.39, 0.38, 0.38, 0.38, 0.35]], [164, "lost_success", null], [[164], "collision", [0.36]], [165, "success", null], [[165, 166, 167, 168], "collision", [0.37, 0.35, 0.3, 0.3]], [172, "lost_success", null], [173, "success", null], [[175], "collision", [0.36]], [176, "lost_success", null], [[176, 177, 178, 179, 180], "collision", [0.37, 0.34, 0.34, 0.35, 0.36]], [181, "success", null], [[181, 182, 194], "collision", [0.31, 0.32, 0.72]], [195, "lost_success", null], [[195], "collision", [0.42]], [196, "success", null], [[196], "collision", [0.37]], [197, "lost_success", null], [[197], "collision", [0.4]], [198, "success", null], [[198, 199], "collision", [0.44, 0.4]]], + "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": 53, + "task_plan_idx": 142, + "init_config_idx": 49, + "spawn_selection_idx": 24, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 13], "collision", [229.08, 169.28, 1.01]], [17, "contact", null], [17, "grasped", null], [38, "success", null], [41, "lost_success", null], [43, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [110, "lost_success", null], [111, "success", null], [130, "lost_success", null], [136, "success", null], [[138], "collision", [181.18]], [139, "lost_success", null], [140, "success", null], [142, "lost_success", null], [146, "success", null], [148, "lost_success", null], [149, "success", null], [186, "lost_success", null], [187, "success", null], [188, "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": 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": 54, + "task_plan_idx": 39, + "init_config_idx": 7, + "spawn_selection_idx": 84, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10], "collision", [246.18, 141.67, 59.22, 191.64]], [12, "contact", null], [12, "grasped", null], [[27, 28, 29, 30, 33], "collision", [148.05, 141.16, 69.63, 23.64, 12.94]], [34, "success", null], [38, "lost_success", null], [[39], "collision", [19.18]], [54, "success", null], [[58, 59, 62, 63, 64, 65, 66, 68, 69, 74], "collision", [11.66, 12.89, 84.95, 21.33, 21.47, 17.36, 19.6, 2.49, 5.17, 27.1]], [78, "lost_success", null], [79, "success", null], [[99, 101, 102, 103, 104, 105, 106], "collision", [5.14, 14.36, 2.98, 8.35, 14.25, 4.28, 8.27]], [108, "lost_success", null], [[108], "collision", [7.78]], [109, "success", null], [[109, 110, 111, 112, 113, 114, 115, 116, 117, 119, 122, 123, 124, 125, 126, 127, 128, 130, 131, 132, 133, 134, 135], "collision", [9.24, 8.96, 11.7, 8.35, 8.64, 10.36, 8.69, 6.76, 25.93, 10.96, 10.17, 14.08, 8.75, 9.91, 9.65, 12.26, 20.14, 14.07, 12.2, 12.32, 23.18, 13.76, 15.5]], [137, "lost_success", null], [[138], "collision", [7.92]], [139, "success", null], [[139, 140, 142, 143, 144, 147, 148, 149, 150, 151], "collision", [9.54, 10.12, 12.14, 18.88, 10.83, 9.86, 12.43, 13.39, 9.99, 8.45]], [152, "lost_success", null], [[152], "collision", [7.66]], [153, "success", null], [[153, 154, 155, 156, 158, 159, 160, 161, 162, 163, 164], "collision", [17.39, 10.66, 12.19, 3.74, 12.83, 11.43, 19.43, 14.15, 10.64, 13.14, 8.86]], [165, "lost_success", null], [[166], "collision", [9.5]], [167, "success", null], [[168, 169, 170, 171, 173, 174, 175, 176, 177, 178], "collision", [13.76, 9.9, 16.79, 9.96, 21.16, 12.56, 16.42, 10.57, 14.94, 18.44]], [179, "lost_success", null], [[179], "collision", [19.12]], [180, "success", null], [[180, 181, 182, 183, 185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [27.05, 14.11, 23.62, 0.61, 25.75, 20.68, 11.04, 23.81, 12.34, 18.96, 16.57, 13.85, 13.36]], [194, "lost_success", null], [[194], "collision", [15.41]], [195, "success", null], [[195, 196, 199], "collision", [21.29, 8.75, 13.76]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 54, + "task_plan_idx": 59, + "init_config_idx": 21, + "spawn_selection_idx": 11, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[15, 17], "collision", [57.35, 3170.72]], [18, "contact", null], [19, "grasped", null], [[19, 29], "collision", [395.63, 1032.88]], [41, "success", null], [45, "lost_success", null], [46, "success", null], [56, "lost_success", null], [57, "success", null], [72, "lost_success", null], [74, "success", null], [75, "lost_success", null], [76, "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": 54, + "task_plan_idx": 23, + "init_config_idx": 91, + "spawn_selection_idx": 96, + "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], [41, "lost_success", null], [43, "success", null], [122, "lost_success", null], [123, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 55, + "task_plan_idx": 121, + "init_config_idx": 134, + "spawn_selection_idx": 20, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[17, "contact", null], [17, "grasped", null], [[18], "collision", [1056.69]], [35, "success", null], [83, "lost_success", null], [89, "success", null], [97, "lost_success", null], [98, "success", null], [101, "lost_success", null], [102, "success", null], [153, "lost_success", null], [154, "success", null], [172, "lost_success", null], [173, "success", null], [176, "lost_success", null], [181, "success", null], [184, "lost_success", null], [185, "success", null], [187, "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": 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": 56, + "task_plan_idx": 102, + "init_config_idx": 30, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7], "collision", [67.69]], [11, "contact", null], [11, "grasped", null], [21, "success", null], [22, "lost_success", null], [31, "success", null], [35, "lost_success", null], [36, "success", null], [61, "lost_success", null], [66, "success", null], [70, "lost_success", null], [73, "success", null], [74, "lost_success", null], [78, "success", null], [81, "lost_success", null], [83, "success", null], [86, "lost_success", null], [87, "success", null], [119, "lost_success", null], [120, "success", null], [122, "lost_success", null], [123, "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": 57, + "task_plan_idx": 113, + "init_config_idx": 57, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15], "collision", [154.51, 0.39]], [21, "contact", null], [21, "grasped", null], [[22, 35, 36, 37, 39, 40], "collision", [44.47, 38.86, 29.74, 41.17, 20.91, 25.75]], [43, "success", null], [44, "lost_success", null], [45, "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, 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", [8.27, 4.79, 6.73, 9.06, 4.67, 6.64, 9.25, 5.36, 4.5, 5.1, 5.6, 7.23, 7.29, 8.14, 6.6, 9.22, 10.13, 10.24, 10.63, 11.13, 8.52, 8.76, 8.64, 9.53, 10.59, 8.79, 9.06, 8.91, 11.02, 13.25, 3.64, 19.83, 36.52, 37.2, 39.8, 39.57, 37.15, 35.12, 29.23, 21.38, 22.1, 14.25, 23.28, 33.52, 29.17, 31.8, 35.48, 34.07, 34.7, 30.62, 30.37, 6.29, 6.66, 5.48, 5.23]], [101, "lost_success", null], [[101], "collision", [6.64]], [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, 140, 141], "collision", [5.72, 6.46, 6.75, 8.41, 8.94, 8.78, 6.95, 7.08, 6.69, 5.96, 4.77, 6.6, 7.69, 10.91, 18.52, 20.66, 15.82, 9.47, 16.6, 18.75, 22.26, 21.97, 18.69, 8.39, 5.21, 2.51, 6.23, 5.97, 7.41, 8.2, 7.09, 6.86, 7.99, 1.11, 1.96, 0.72, 3.24, 9.31, 3.59]], [142, "lost_success", null], [[142, 143, 144], "collision", [16.13, 25.32, 42.66]], [145, "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", [40.18, 38.89, 44.66, 50.31, 59.54, 54.51, 49.88, 50.54, 53.99, 53.58, 56.12, 54.71, 53.42, 53.4, 55.54, 56.24, 58.77, 58.41, 59.3, 59.89, 57.72, 58.1, 59.6, 58.45, 57.68, 58.05, 58.64, 57.3, 58.57, 57.91, 56.55, 55.98, 57.96, 56.37, 57.57, 56.8, 57.16, 55.57, 56.67, 55.35, 56.82, 58.16, 57.74, 58.16, 56.08, 57.06, 56.64, 55.58, 55.49, 56.55, 55.03, 58.49, 57.72, 55.53, 55.33]]], + "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": 58, + "task_plan_idx": 54, + "init_config_idx": 117, + "spawn_selection_idx": 88, + "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], "collision", [1.35]], [45, "success", null], [77, "lost_success", null], [78, "success", null], [83, "lost_success", null], [85, "success", null], [86, "lost_success", null], [87, "success", null], [[90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 111, 112, 113, 114, 115, 116, 117, 118, 120, 121, 123, 125, 126, 127, 129, 130, 131, 133, 134, 135, 136, 137, 139, 140, 141, 142, 143, 147, 148, 149, 150, 153, 154, 155, 156, 157, 158, 160, 161, 163, 165, 167, 168, 169, 170, 171, 172, 174, 175, 176, 177, 178, 179, 181, 182, 183, 188, 192, 194, 195, 196, 197], "collision", [72.56, 43.94, 45.9, 45.19, 36.6, 15.54, 24.36, 20.69, 8.31, 19.58, 34.95, 26.08, 21.4, 41.88, 21.27, 43.63, 31.12, 19.76, 43.89, 7.25, 42.02, 31.74, 35.94, 39.3, 42.65, 37.37, 45.11, 40.1, 41.28, 37.52, 19.54, 1.06, 0.39, 15.44, 4.66, 18.46, 16.7, 43.87, 40.25, 11.76, 42.58, 9.63, 40.96, 40.95, 44.06, 45.15, 36.22, 24.19, 43.44, 20.36, 36.88, 33.19, 35.64, 24.29, 36.85, 9.98, 26.57, 6.02, 5.75, 42.43, 33.37, 2.1, 6.52, 11.01, 3.46, 29.22, 2.06, 19.8, 30.67, 33.17, 35.32, 0.78, 38.07, 24.32, 9.44, 40.42, 18.13, 40.3, 10.91, 37.88, 37.07, 9.36]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 59, + "task_plan_idx": 113, + "init_config_idx": 42, + "spawn_selection_idx": 46, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[21, 23], "collision", [258.86, 118.48]], [24, "contact", null], [25, "grasped", null], [[43, 44, 45], "collision", [98.77, 214.1, 94.74]], [51, "success", null], [52, "lost_success", null], [[52], "collision", [31.29]], [54, "success", null], [72, "lost_success", null], [[74, 75], "collision", [213.41, 125.96]], [76, "success", null], [[76], "collision", [17.65]], [93, "lost_success", null], [96, "success", null], [105, "lost_success", null], [112, "success", null], [113, "lost_success", null], [114, "success", null], [116, "lost_success", null], [119, "success", null], [130, "lost_success", null], [[151], "collision", [478.82]], [160, "success", null], [162, "lost_success", null], [[184, 185, 186, 187, 188, 189, 190], "collision", [61.8, 134.38, 90.61, 70.75, 35.39, 44.53, 52.28]], [191, "success", null], [[191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [46.59, 43.13, 30.78, 27.36, 38.09, 40.35, 34.63, 33.04, 25.78]]], + "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": 59, + "task_plan_idx": 36, + "init_config_idx": 154, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[25, "contact", null], [25, "grasped", null], [49, "success", null], [50, "lost_success", null], [53, "success", null], [55, "lost_success", null], [67, "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, 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, 196, 197, 198, 199], "collision", [15.02, 31.31, 31.09, 30.48, 40.32, 37.64, 42.95, 29.16, 20.1, 31.01, 6.45, 6.08, 12.17, 12.43, 11.38, 14.82, 8.63, 6.18, 1.17, 47.38, 30.96, 26.05, 24.26, 24.82, 25.25, 25.7, 23.26, 26.89, 24.37, 26.01, 23.1, 23.54, 24.95, 24.57, 28.18, 31.46, 29.09, 29.58, 29.13, 29.44, 28.15, 34.84, 34.28, 28.88, 28.18, 30.07, 31.83, 25.27, 26.13, 25.18, 24.16, 23.66, 23.93, 23.67, 23.79, 23.94, 24.19, 24.32, 29.52, 28.12, 29.12, 36.26, 37.9, 23.73, 24.06, 23.05, 23.7, 24.87, 28.73, 30.01, 44.98, 39.62, 35.2, 35.28, 33.28, 27.28, 31.0, 30.35, 28.02, 24.18, 24.57, 24.82, 32.79, 39.59, 44.09, 41.96, 48.87, 51.33, 50.7, 51.72, 34.98, 32.53, 30.79, 27.55, 23.91, 23.44, 23.96, 24.72, 24.7, 27.14, 24.82]]], + "articulation_type": "fridge", + "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": 60, + "task_plan_idx": 131, + "init_config_idx": 24, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [109.54]], [18, "contact", null], [18, "grasped", null], [36, "success", null], [37, "lost_success", null], [48, "success", null], [54, "lost_success", null], [55, "success", null], [57, "lost_success", null], [64, "success", null], [69, "lost_success", null], [70, "success", null], [[72], "collision", [6.33]], [73, "lost_success", null], [74, "success", null], [[74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88], "collision", [6.05, 19.03, 39.59, 47.47, 51.27, 44.44, 49.42, 59.74, 61.48, 69.53, 69.86, 74.2, 14.97, 7.59, 0.09]], [99, "lost_success", null], [100, "success", null], [106, "lost_success", null], [107, "success", null], [134, "lost_success", null], [[134], "collision", [30.83]], [135, "success", null], [[135, 136, 137, 138, 139, 140, 141, 142], "collision", [16.73, 39.32, 34.18, 56.63, 81.05, 63.07, 69.54, 101.66]], [143, "lost_success", null], [[143, 144], "collision", [61.99, 4.49]], [146, "success", null], [147, "lost_success", null], [160, "success", null], [161, "lost_success", null], [166, "success", null], [168, "lost_success", null], [176, "success", null], [[181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194], "collision", [4.65, 8.89, 1.84, 2.76, 5.21, 23.53, 22.92, 22.89, 22.63, 22.25, 22.61, 22.53, 22.37, 22.77]], [195, "lost_success", null], [[195, 196, 197, 198, 199], "collision", [21.97, 21.96, 21.91, 14.6, 14.42]]], + "articulation_type": "fridge", + "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": 61, + "task_plan_idx": 53, + "init_config_idx": 65, + "spawn_selection_idx": 19, + "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], [46, "lost_success", null], [47, "success", null], [66, "lost_success", null], [71, "success", null], [[81, 82, 83, 84, 85, 86, 87, 88], "collision", [34.78, 45.95, 37.63, 40.41, 39.35, 59.88, 95.78, 80.31]], [89, "lost_success", null], [[89, 90], "collision", [43.68, 20.38]], [91, "success", null], [93, "lost_success", null], [94, "success", null], [98, "lost_success", null], [108, "success", null], [115, "lost_success", null], [116, "success", null], [126, "lost_success", null], [136, "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": 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": 62, + "task_plan_idx": 74, + "init_config_idx": 32, + "spawn_selection_idx": 15, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 11, 12, 13, 14, 15], "collision", [196.7, 181.42, 141.57, 119.74, 211.46, 206.13, 197.44, 200.79, 136.19, 131.77]], [16, "contact", null], [[16], "collision", [61.35]], [17, "grasped", null], [41, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [49, "success", null], [52, "lost_success", null], [53, "success", null], [58, "lost_success", null], [60, "success", null], [64, "lost_success", null], [66, "success", null], [71, "lost_success", null], [72, "success", null], [73, "lost_success", null], [74, "success", null], [77, "lost_success", null], [78, "success", null], [89, "lost_success", null], [93, "success", null], [124, "lost_success", null], [127, "success", null], [128, "lost_success", null], [130, "success", null], [144, "lost_success", null], [154, "success", null], [157, "lost_success", null], [161, "success", null], [162, "lost_success", null], [163, "success", null], [175, "lost_success", null], [183, "success", null], [186, "lost_success", null], [187, "success", null], [188, "lost_success", null], [194, "success", null], [196, "lost_success", null]], + "articulation_type": "fridge", + "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": 62, + "task_plan_idx": 64, + "init_config_idx": 13, + "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], [9, "grasped", null], [29, "success", null], [59, "lost_success", null], [64, "success", null], [135, "lost_success", null], [137, "success", null], [139, "lost_success", null], [142, "success", null], [167, "lost_success", null], [169, "success", null], [175, "lost_success", null], [176, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 28, + "init_config_idx": 142, + "spawn_selection_idx": 90, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[28, "contact", null], [28, "grasped", null], [[32, 33, 34, 35, 36, 37, 38, 39, 40, 52, 53, 54, 55], "collision", [29.67, 5.35, 5.44, 5.33, 5.76, 5.88, 6.33, 12.83, 13.14, 17.8, 61.03, 59.11, 38.55]], [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, 79, 80, 81, 82, 83], "collision", [82.1, 63.28, 77.19, 77.26, 54.06, 64.63, 59.95, 60.26, 55.01, 46.48, 41.59, 35.17, 38.46, 13.35, 14.73, 18.5, 15.45, 24.19, 29.6, 29.71, 31.11, 32.1, 32.21, 29.72, 27.97, 26.15, 30.32, 28.53]], [84, "lost_success", null], [90, "success", null], [108, "lost_success", null], [112, "success", null], [166, "lost_success", null], [169, "success", null], [170, "lost_success", null], [176, "success", null], [186, "lost_success", null], [190, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 2, + "init_config_idx": 75, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15, 16], "collision", [133.4, 963.79, 498.49, 187.33, 224.89]], [20, "contact", null], [20, "grasped", null], [45, "success", null], [77, "lost_success", null], [78, "success", null], [83, "lost_success", null], [84, "success", null], [85, "lost_success", null], [[85], "collision", [7.27]], [87, "success", null], [[92], "collision", [501.79]], [93, "lost_success", null], [94, "success", null], [176, "lost_success", null], [177, "success", null], [179, "lost_success", null], [180, "success", null], [181, "lost_success", null], [182, "success", null], [183, "lost_success", null], [186, "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": 63, + "task_plan_idx": 58, + "init_config_idx": 133, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 6, 7, 8, 18], "collision", [279.32, 486.6, 302.36, 301.49, 207.27, 470.98]], [19, "contact", null], [20, "grasped", null], [35, "success", null], [36, "lost_success", null], [41, "success", null], [43, "lost_success", null], [44, "success", null], [49, "lost_success", null], [50, "success", null], [79, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 64, + "task_plan_idx": 42, + "init_config_idx": 128, + "spawn_selection_idx": 28, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 14, 15, 17], "collision", [149.45, 282.22, 163.06, 521.26]], [18, "contact", null], [[18], "collision", [491.52]], [19, "grasped", null], [[32, 33], "collision", [827.25, 26.22]], [43, "success", null], [[69, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 89], "collision", [87.01, 5.26, 19.06, 7.85, 9.43, 20.86, 25.73, 25.22, 26.03, 26.52, 48.72, 50.96, 57.36, 66.47, 51.53, 23.23, 10.77, 10.46, 10.12]], [91, "lost_success", null], [92, "success", null], [118, "lost_success", null], [119, "success", null], [122, "lost_success", null], [127, "success", null], [131, "lost_success", null], [134, "success", null], [142, "lost_success", null], [143, "success", null], [145, "lost_success", null], [148, "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], [173, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 64, + "task_plan_idx": 131, + "init_config_idx": 84, + "spawn_selection_idx": 4, + "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], "collision", [300.9, 231.28, 1444.68, 520.15, 524.07, 434.04, 412.39, 190.47]], [22, "contact", null], [22, "grasped", null], [[26], "collision", [0.01]], [85, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 65, + "task_plan_idx": 20, + "init_config_idx": 113, + "spawn_selection_idx": 42, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 12], "collision", [311.66, 276.43]], [19, "contact", null], [19, "grasped", null], [[19, 20], "collision", [136.73, 0.35]], [40, "success", null], [43, "lost_success", null], [44, "success", null], [[45, 46], "collision", [0.12, 0.09]], [47, "lost_success", null], [[47], "collision", [0.08]], [48, "success", null], [[48, 49, 50], "collision", [0.08, 0.09, 0.1]], [55, "lost_success", null], [59, "success", null], [88, "lost_success", null], [93, "success", null], [[94, 95], "collision", [0.32, 0.13]], [96, "lost_success", null], [[96], "collision", [0.13]], [97, "success", null], [[97, 98, 99, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 131, 132, 134, 135, 136, 137, 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, 166, 167, 176, 177, 178, 180, 181, 182, 185, 186, 187, 188, 189, 190, 191], "collision", [0.19, 0.15, 0.16, 0.11, 0.13, 0.13, 0.13, 0.13, 0.13, 0.14, 0.12, 0.12, 0.13, 0.13, 0.13, 0.13, 0.12, 0.13, 0.13, 0.13, 0.14, 0.13, 0.27, 0.15, 0.14, 0.14, 0.3, 0.21, 0.13, 0.13, 0.13, 0.13, 0.17, 0.19, 0.25, 0.24, 0.3, 0.26, 0.28, 0.27, 0.3, 0.28, 0.3, 0.35, 0.37, 0.36, 0.23, 0.25, 0.23, 0.3, 0.22, 0.2, 0.25, 0.17, 0.22, 0.21, 0.17, 0.2, 0.25, 0.22, 0.14, 0.17, 0.19, 0.21, 0.31, 0.38, 0.23]], [192, "lost_success", null], [193, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 40, + "init_config_idx": 39, + "spawn_selection_idx": 42, + "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", [116.56, 259.26, 160.86, 147.39, 155.69, 371.73]], [22, "contact", null], [25, "grasped", null], [[25, 31], "collision", [1282.51, 102.51]], [54, "success", null], [76, "lost_success", null], [122, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 67, + "task_plan_idx": 31, + "init_config_idx": 54, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14, 15, 16], "collision", [329.9, 192.56, 144.57, 172.75]], [19, "contact", null], [19, "grasped", null], [[19], "collision", [68.27]], [49, "success", null], [54, "lost_success", null], [55, "success", null], [56, "lost_success", null], [57, "success", null], [62, "lost_success", null], [63, "success", null], [65, "lost_success", null], [66, "success", null], [72, "lost_success", null], [74, "success", null], [77, "lost_success", null], [78, "success", null], [79, "lost_success", null], [83, "success", null], [102, "lost_success", null], [110, "success", null], [111, "lost_success", null], [112, "success", null], [121, "lost_success", null], [122, "success", null], [149, "lost_success", null], [150, "success", null], [[165, 166, 168, 169, 170, 171], "collision", [0.01, 0.01, 0.03, 0.03, 0.03, 0.02]], [174, "lost_success", null], [176, "success", null], [179, "lost_success", null], [180, "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": 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": 67, + "task_plan_idx": 44, + "init_config_idx": 0, + "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, "grasped", null], [44, "success", null], [45, "lost_success", null], [46, "success", null], [47, "lost_success", null], [49, "success", null], [79, "lost_success", null], [80, "success", null], [92, "lost_success", null], [93, "success", null], [109, "lost_success", null], [110, "success", null], [117, "lost_success", null], [126, "success", null], [132, "lost_success", null], [134, "success", null]], + "articulation_type": "fridge", + "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": 68, + "task_plan_idx": 9, + "init_config_idx": 26, + "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, "grasped", null], [46, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [75, "success", null], [83, "lost_success", null], [[90], "collision", [21.25]], [94, "success", null], [[95], "collision", [21.47]], [96, "lost_success", null], [99, "success", null], [[102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 145, 147, 149, 150, 151, 176, 177, 178, 179, 180, 182, 183, 184, 185, 186, 187, 188, 189, 199], "collision", [11.49, 32.42, 35.63, 22.65, 10.74, 8.43, 15.84, 11.72, 12.28, 7.14, 7.23, 25.96, 19.25, 14.94, 17.38, 6.44, 0.15, 0.61, 0.37, 0.38, 0.74, 5.95, 6.02, 5.74, 2.58, 8.38, 14.77, 6.31, 3.17, 2.31, 1.09, 1.18, 5.26, 7.75, 6.32, 8.91, 4.78, 0.78]]], + "articulation_type": "fridge", + "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": 6, + "task_plan_idx": 44, + "init_config_idx": 132, + "spawn_selection_idx": 34, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[41], "collision", [20.36]], [42, "success", null], [[42, 43, 44, 45, 46, 47, 48], "collision", [44.16, 47.27, 69.49, 69.26, 60.14, 38.17, 29.84]], [49, "lost_success", null], [[49], "collision", [27.05]], [50, "success", null], [[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], "collision", [16.48, 35.29, 23.73, 37.48, 36.69, 29.17, 26.86, 27.34, 42.16, 40.29, 31.2, 26.77, 33.92, 37.32, 44.86, 112.34, 57.69, 67.5, 15.83, 22.4, 16.09, 30.37, 37.17, 29.57, 26.92, 19.5, 22.28, 22.57, 24.03, 8.88]], [80, "lost_success", null], [[80], "collision", [0.54]], [82, "success", null], [84, "lost_success", null], [85, "success", null], [[91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 104, 107], "collision", [9.18, 18.04, 20.11, 25.78, 22.49, 25.38, 15.21, 7.56, 14.69, 5.58, 20.92, 13.78, 5.35, 6.27]], [147, "lost_success", null], [148, "success", null], [152, "lost_success", null], [155, "success", null], [184, "lost_success", null], [186, "success", null], [193, "lost_success", null], [194, "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": 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": 8, + "task_plan_idx": 91, + "init_config_idx": 94, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [[34, 35, 36, 37, 38, 39, 40, 41], "collision", [0.09, 4.08, 43.25, 63.54, 62.37, 55.37, 247.18, 120.79]], [42, "success", null], [[42], "collision", [112.02]], [43, "lost_success", null], [[43], "collision", [108.96]], [44, "success", null], [[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], "collision", [122.47, 109.32, 98.98, 85.77, 68.93, 72.79, 75.24, 57.62, 58.5, 71.94, 72.13, 71.88, 68.76, 73.62, 77.32, 78.71, 76.21, 63.23, 62.94, 61.96, 55.52, 58.35, 54.31, 56.88, 51.67, 55.19, 46.93, 48.57, 47.51, 45.16, 42.11, 42.92, 41.09, 40.31]], [78, "lost_success", null], [[78, 79, 89, 90], "collision", [35.09, 4.39, 6.55, 11.29]], [108, "success", null], [111, "lost_success", null], [117, "success", null], [122, "lost_success", null], [125, "success", null], [127, "lost_success", null], [183, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 8, + "task_plan_idx": 5, + "init_config_idx": 32, + "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], [17, "grasped", null], [[20, 21, 22], "collision", [122.16, 3.95, 0.57]], [43, "success", null], [46, "lost_success", null], [49, "success", null]], + "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": 9, + "task_plan_idx": 49, + "init_config_idx": 40, + "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], [17, "grasped", null], [[17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31], "collision", [36.07, 46.52, 42.73, 10.92, 14.36, 3.07, 2.8, 0.55, 0.09, 2.86, 2.61, 2.09, 1.14, 4.45, 0.53]], [36, "success", null], [40, "lost_success", null], [[40], "collision", [0.61]], [41, "success", null], [[41, 50], "collision", [1.8, 0.38]], [55, "lost_success", null], [57, "success", null], [[64, 66], "collision", [1.39, 0.69]], [67, "lost_success", null], [68, "success", null], [[68, 69], "collision", [1.1, 1.06]], [70, "lost_success", null], [[70], "collision", [0.74]], [71, "success", null], [72, "lost_success", null], [[72], "collision", [0.33]], [74, "success", null], [[79], "collision", [0.78]], [85, "lost_success", null], [86, "success", null], [[90], "collision", [0.39]], [93, "lost_success", null], [[93], "collision", [0.04]], [95, "success", null], [[95, 101, 103, 104, 107], "collision", [0.03, 0.29, 0.51, 0.59, 0.46]], [112, "lost_success", null], [[112], "collision", [0.93]], [113, "success", null], [[117], "collision", [1.14]], [122, "lost_success", null], [123, "success", null], [[124, 128, 129, 130, 131, 132], "collision", [0.63, 1.27, 1.16, 0.76, 0.19, 1.3]], [139, "lost_success", null], [140, "success", null], [[150, 161, 174, 176], "collision", [0.26, 0.17, 0.35, 0.08]], [192, "lost_success", null], [193, "success", null], [[196, 197, 198, 199], "collision", [1.29, 0.02, 0.59, 1.08]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 11, + "task_plan_idx": 29, + "init_config_idx": 116, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 19, 20, 21, 22], "collision", [179.06, 86.16, 25.09, 299.32, 150.44, 269.49]], [24, "contact", null], [25, "grasped", null], [55, "success", null], [56, "lost_success", null], [58, "success", null], [59, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 12, + "task_plan_idx": 158, + "init_config_idx": 177, + "spawn_selection_idx": 79, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [38, "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, 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], "collision", [4.72, 14.94, 17.62, 24.12, 23.37, 20.84, 24.42, 9.51, 9.59, 5.51, 4.99, 5.63, 3.79, 6.25, 4.5, 2.14, 3.31, 2.85, 5.24, 3.56, 2.67, 3.78, 3.17, 2.28, 3.53, 4.33, 3.66, 14.06, 11.82, 14.69, 16.51, 12.35, 5.09, 4.05, 4.67, 0.04, 3.14, 4.95, 8.56, 10.11, 9.56, 13.62, 11.85, 10.03, 14.15, 13.54, 14.1, 5.0, 2.02, 2.43, 2.72, 5.75, 7.03, 8.14, 0.92, 3.02, 4.71, 3.11, 8.86, 11.1, 16.43, 19.92, 16.32, 19.64, 15.28, 11.11, 11.16, 9.23, 12.66, 13.19, 7.24, 35.0, 34.61, 36.76, 31.38, 36.52]], [132, "lost_success", null], [[132], "collision", [33.8]], [133, "success", null], [[133], "collision", [31.42]], [134, "lost_success", null], [[134], "collision", [35.6]], [135, "success", null], [[135], "collision", [32.28]], [136, "lost_success", null], [[136], "collision", [33.27]], [137, "success", null], [[137], "collision", [31.85]], [138, "lost_success", null], [[138], "collision", [32.48]], [139, "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, 174, 175, 177, 178, 181, 182, 183, 184, 188, 189, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [31.44, 33.36, 30.71, 33.87, 30.97, 32.54, 18.21, 33.31, 32.08, 33.71, 32.87, 30.67, 29.81, 32.78, 30.77, 27.0, 30.62, 31.84, 29.48, 29.36, 25.72, 32.18, 30.75, 33.7, 12.9, 32.59, 27.81, 30.58, 34.64, 24.31, 33.77, 32.56, 30.55, 33.96, 36.15, 25.83, 22.61, 32.6, 26.84, 32.43, 32.38, 32.8, 25.18, 29.78, 30.64, 0.42, 35.27, 29.69, 31.74, 30.98, 34.76, 29.71, 30.26, 23.24]]], + "articulation_type": "fridge", + "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": 12, + "task_plan_idx": 167, + "init_config_idx": 147, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13], "collision", [1806.69, 61.53]], [19, "contact", null], [19, "grasped", null], [[19], "collision", [721.08]], [33, "success", null], [42, "lost_success", null], [51, "success", null], [54, "lost_success", null], [55, "success", null], [58, "lost_success", null], [61, "success", null], [65, "lost_success", null], [66, "success", null], [68, "lost_success", null], [69, "success", null], [141, "lost_success", null], [148, "success", null], [149, "lost_success", null], [151, "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": 13, + "task_plan_idx": 49, + "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": [[19, "contact", null], [19, "grasped", null], [75, "success", null], [89, "lost_success", null], [125, "success", null], [136, "lost_success", null], [149, "success", null], [154, "lost_success", null], [158, "success", null], [180, "lost_success", null]], + "articulation_type": "fridge", + "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": 14, + "task_plan_idx": 59, + "init_config_idx": 76, + "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], [[38], "collision", [114.62]], [39, "success", null], [[39], "collision", [64.98]], [40, "lost_success", null], [[40, 41], "collision", [62.7, 58.78]], [42, "success", null], [[42], "collision", [62.51]], [43, "lost_success", null], [[43], "collision", [62.09]], [44, "success", null], [[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, 81, 82], "collision", [62.9, 57.72, 52.51, 48.06, 62.0, 64.94, 60.09, 70.12, 67.51, 68.12, 69.4, 53.05, 53.33, 51.48, 49.67, 64.16, 65.66, 54.77, 57.75, 55.37, 45.69, 47.49, 45.69, 46.23, 49.23, 48.23, 48.3, 45.71, 44.63, 46.1, 43.24, 43.55, 39.88, 43.08, 44.93, 41.44, 42.53, 39.22, 41.88]], [83, "lost_success", null], [[83, 84, 85], "collision", [46.16, 42.84, 47.84]], [86, "success", null], [[86, 87, 88, 89, 90, 91, 92, 93], "collision", [40.52, 41.51, 39.52, 40.19, 11.89, 13.32, 13.29, 16.1]], [94, "lost_success", null], [[94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 108, 110, 111], "collision", [11.8, 12.98, 11.14, 12.38, 13.95, 12.44, 12.9, 14.23, 14.76, 11.34, 14.58, 15.83, 5.53, 0.95, 59.32, 44.14]], [112, "success", null], [[115], "collision", [2.63]], [135, "lost_success", null], [138, "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": 14, + "task_plan_idx": 6, + "init_config_idx": 122, + "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", [290.67, 304.82, 215.7, 238.44, 205.13]], [16, "contact", null], [17, "grasped", null], [[23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40], "collision", [23.41, 20.67, 32.37, 2.72, 8.48, 3.49, 2.56, 4.78, 0.21, 1.82, 2.36, 0.75, 2.02, 0.16, 0.13, 2.0, 0.28, 0.35]], [41, "success", null], [[41], "collision", [0.35]], [42, "lost_success", null], [[42], "collision", [1.79]], [43, "success", null], [[43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64], "collision", [1.34, 2.58, 0.95, 4.26, 0.39, 0.71, 2.29, 1.57, 0.64, 1.94, 0.61, 2.08, 0.63, 2.98, 0.58, 0.35, 0.25, 0.42, 0.27, 0.47, 0.33, 0.05]], [66, "lost_success", null], [[67, 68], "collision", [3.18, 1.25]], [69, "success", null], [[69, 70], "collision", [1.69, 0.53]], [72, "lost_success", null], [[72], "collision", [0.42]], [73, "success", null], [[73, 74, 75, 76, 77, 78, 79], "collision", [2.73, 1.48, 0.67, 0.3, 0.45, 0.1, 0.35]], [81, "lost_success", null], [[81, 83, 84, 85], "collision", [0.25, 0.37, 1.09, 0.42]], [86, "success", null], [[86, 87, 90, 91, 93], "collision", [0.17, 0.21, 0.02, 0.32, 0.09]], [94, "lost_success", null], [[94, 95, 96, 97, 98, 99], "collision", [0.45, 0.32, 0.1, 0.14, 0.32, 1.83]], [100, "success", null], [[100], "collision", [0.4]], [101, "lost_success", null], [[101, 102, 103, 104, 105, 106, 107, 108], "collision", [1.62, 0.16, 0.47, 2.27, 1.75, 2.26, 0.46, 1.92]], [109, "success", null], [[109, 110, 111, 112], "collision", [1.6, 2.61, 3.67, 2.28]], [113, "lost_success", null], [[113], "collision", [1.52]], [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], "collision", [2.86, 2.1, 3.6, 2.1, 1.01, 2.07, 1.55, 3.48, 0.36, 0.34, 3.88, 2.73, 2.46, 2.81, 3.5, 0.51, 2.54, 1.52, 0.88, 0.49, 1.15, 0.33, 0.52, 3.45, 1.51, 2.8, 1.54, 0.32, 0.4, 1.39, 2.87, 1.64, 1.87, 2.62, 2.09, 0.51, 3.62, 1.4, 0.41, 1.73, 3.24, 0.21, 0.36, 1.22, 0.82, 3.8]], [160, "lost_success", null], [[160], "collision", [2.55]], [161, "success", null], [[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", [3.14, 3.45, 0.43, 2.59, 2.85, 1.42, 1.54, 1.24, 1.21, 1.22, 0.3, 2.82, 4.38, 0.74, 2.55, 0.26, 2.6, 4.67, 2.12, 2.22, 2.64, 0.65, 2.17, 0.86, 3.5, 4.53, 1.64, 2.91, 3.47, 1.65, 0.94, 3.84, 3.62, 3.19, 2.86, 3.05, 2.37, 0.65, 0.44]]], + "articulation_type": "fridge", + "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": 14, + "task_plan_idx": 115, + "init_config_idx": 88, + "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], [32, "success", null], [87, "lost_success", null], [91, "success", null], [92, "lost_success", null], [117, "success", null], [120, "lost_success", null], [125, "success", null], [158, "lost_success", null], [159, "success", null], [163, "lost_success", null], [164, "success", null], [177, "lost_success", null], [178, "success", null], [179, "lost_success", null], [180, "success", null], [183, "lost_success", null], [188, "success", null], [190, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 15, + "task_plan_idx": 13, + "init_config_idx": 92, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[17], "collision", [392.9]], [19, "contact", null], [19, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35], "collision", [69.48, 69.35, 65.87, 65.66, 67.07, 25.29, 21.14, 21.24, 20.08, 30.77, 27.12, 29.34, 25.28, 23.39, 4.18, 6.56]], [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, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [5.2, 4.45, 6.82, 7.86, 6.16, 5.44, 5.16, 6.55, 7.09, 5.85, 6.05, 6.77, 4.44, 5.55, 6.53, 9.02, 7.14, 6.36, 9.09, 6.56, 4.64, 6.64, 6.68, 5.64, 8.62, 6.91, 6.89, 7.41, 5.31, 7.74, 6.04, 7.22, 6.53, 6.42, 6.79, 8.67, 6.39, 7.23, 6.81, 6.74, 7.48, 6.57]], [78, "lost_success", null], [[78, 79, 80, 81, 82], "collision", [7.69, 6.86, 5.15, 2.16, 3.06]], [83, "success", null], [[83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93], "collision", [8.3, 7.77, 8.67, 4.3, 32.7, 25.2, 20.38, 31.01, 28.43, 22.03, 17.41]], [94, "lost_success", null], [[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], "collision", [19.4, 20.59, 22.89, 35.44, 34.05, 42.33, 43.37, 42.16, 44.25, 39.19, 33.43, 22.93, 30.84, 11.08, 27.1, 31.43, 26.42, 31.86, 26.94, 26.39, 27.56, 29.75, 27.76, 30.01, 21.79, 8.19, 7.15, 5.63, 5.49, 12.07, 18.25, 12.98, 5.08, 3.49, 19.94, 18.79, 7.24, 25.87, 13.14, 22.03, 16.53, 34.77, 4.32, 5.11, 28.34, 27.1, 33.99, 38.98, 31.03, 29.79, 29.46, 30.26, 35.64, 24.38, 8.77, 29.03, 3.39, 7.28, 3.72, 4.08, 2.35, 18.21, 7.7, 2.59, 5.53, 5.11, 4.41, 9.24]], [162, "success", null], [[162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180], "collision", [5.85, 6.36, 8.69, 7.84, 10.3, 6.14, 9.86, 6.66, 8.85, 6.91, 10.93, 5.51, 7.96, 6.22, 6.37, 10.38, 7.72, 8.32, 6.74]], [181, "lost_success", null], [[181, 182, 183], "collision", [8.06, 8.98, 8.01]], [184, "success", null], [[184, 185, 186, 187, 188, 189, 190, 191, 192, 193], "collision", [7.85, 2.95, 2.13, 5.78, 2.73, 3.81, 4.74, 3.66, 4.95, 5.39]], [194, "lost_success", null], [[194, 195], "collision", [3.05, 3.65]], [196, "success", null], [[196, 197, 198, 199], "collision", [7.99, 5.34, 6.41, 5.45]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 15, + "task_plan_idx": 99, + "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": [[19, "contact", null], [19, "grasped", null], [[19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 34, 35, 36, 37, 38], "collision", [13.35, 17.36, 22.74, 10.89, 9.47, 7.74, 8.33, 10.95, 8.69, 7.4, 8.35, 15.05, 15.98, 17.93, 28.14, 41.43, 66.69, 12.8]], [39, "success", null], [[39], "collision", [4.69]], [40, "lost_success", null], [[40], "collision", [5.57]], [41, "success", null], [[41], "collision", [2.87]], [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], "collision", [7.36, 11.59, 4.81, 3.48, 11.06, 6.68, 5.14, 10.52, 6.61, 6.47, 5.96, 6.35, 9.63, 2.88, 7.75, 15.54, 13.56, 15.83, 18.02, 15.23, 15.26, 17.47]], [64, "success", null], [[64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [17.12, 17.6, 15.26, 15.81, 16.08, 17.93, 16.38, 15.33, 16.81, 15.21, 15.35, 16.01, 16.29, 16.59, 14.97]], [79, "lost_success", null], [[79, 80, 81, 82, 83, 84, 85, 86], "collision", [13.02, 12.85, 13.65, 12.48, 13.73, 17.36, 18.09, 16.94]], [87, "success", null], [[87, 88, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105], "collision", [13.09, 9.17, 1.6, 13.36, 14.02, 9.44, 11.77, 14.49, 15.4, 18.12, 10.66, 19.16, 15.15, 22.5, 13.38, 23.01, 15.92]], [106, "lost_success", null], [[106], "collision", [15.21]], [107, "success", null], [[107, 108, 109, 110, 111, 112], "collision", [13.95, 12.3, 28.22, 20.67, 20.7, 20.59]], [113, "lost_success", null], [[113, 114], "collision", [28.98, 20.14]], [115, "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, 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", [30.7, 13.75, 9.93, 16.12, 19.37, 18.36, 16.79, 17.46, 14.27, 17.64, 16.78, 19.25, 13.55, 8.57, 10.56, 25.43, 22.7, 24.05, 26.5, 25.47, 26.18, 25.24, 25.76, 26.56, 26.67, 23.65, 25.91, 25.29, 24.6, 25.07, 24.66, 24.07, 23.84, 23.15, 24.1, 24.54, 22.8, 23.77, 22.75, 22.45, 25.53, 25.94, 25.66, 24.8, 26.16, 25.33, 26.06, 24.64, 24.76, 24.21, 25.98, 23.14, 23.7, 25.22, 24.69, 23.67, 24.22, 23.95, 23.98, 25.58, 23.53, 21.9, 23.87, 22.59, 23.73, 23.76, 24.98, 24.73, 25.77, 25.95, 25.01, 24.83, 25.03, 24.21, 25.03, 24.48, 25.14, 25.02, 25.14, 25.76, 24.08, 23.99, 23.25, 23.22, 26.28]]], + "articulation_type": "fridge", + "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": 18, + "task_plan_idx": 102, + "init_config_idx": 119, + "spawn_selection_idx": 57, + "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], [35, "lost_success", null], [36, "success", null], [78, "lost_success", null], [79, "success", null], [88, "lost_success", null], [89, "success", null], [90, "lost_success", null], [91, "success", null], [92, "lost_success", null], [93, "success", null], [118, "lost_success", null], [119, "success", null], [124, "lost_success", null], [125, "success", null], [136, "lost_success", null], [138, "success", null], [148, "lost_success", null], [149, "success", null], [150, "lost_success", null], [152, "success", null], [159, "lost_success", null], [161, "success", null], [177, "lost_success", null], [179, "success", null], [181, "lost_success", null], [182, "success", null], [189, "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": 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": 18, + "task_plan_idx": 67, + "init_config_idx": 29, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[11, "contact", null], [11, "grasped", null], [24, "success", null], [30, "lost_success", null], [31, "success", null], [32, "lost_success", null], [[32], "collision", [57.29]], [33, "success", null], [[33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [3.51, 2.83, 3.52, 3.6, 3.59, 3.59, 3.58, 3.61, 3.61, 3.6, 3.57, 3.6, 3.6]], [46, "lost_success", null], [[46, 47, 48, 49, 50, 51, 52], "collision", [3.6, 3.6, 3.59, 3.59, 3.6, 3.6, 3.62]], [53, "success", null], [[53], "collision", [3.59]], [54, "lost_success", null], [[54, 55, 56, 57, 58, 59, 60], "collision", [3.6, 3.61, 3.58, 3.59, 3.6, 3.58, 3.6]], [61, "success", null], [[61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78], "collision", [3.6, 3.6, 3.6, 3.61, 3.61, 3.58, 3.6, 3.59, 3.61, 3.62, 3.6, 3.6, 3.61, 3.6, 3.58, 3.61, 3.58, 3.58]], [79, "lost_success", null], [[79], "collision", [3.61]], [80, "success", null], [[80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [3.61, 3.59, 3.58, 3.59, 3.59, 3.62, 3.59, 3.59, 3.61, 3.61, 3.57, 3.6, 3.6, 3.6, 3.61, 3.62, 3.61]], [97, "lost_success", null], [[97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111], "collision", [3.6, 3.6, 3.61, 3.6, 3.61, 3.61, 3.61, 3.62, 3.58, 3.6, 3.6, 3.6, 3.6, 3.61, 3.62]], [112, "success", null], [[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", [3.58, 3.61, 3.61, 3.61, 3.6, 3.59, 3.6, 3.61, 3.61, 3.61, 3.62, 3.6, 3.58, 3.61, 3.6, 3.6, 3.61, 3.59, 3.6, 3.6, 3.61, 3.6, 3.58, 3.59, 3.58, 3.56, 3.61, 3.59, 3.59, 3.61, 3.61, 3.61, 3.6, 3.59, 3.58, 3.62, 3.61, 3.6, 3.6, 3.57, 3.6, 3.6, 3.59, 3.59, 3.6, 3.58, 3.61, 3.6, 3.6, 3.59, 3.6, 3.62, 3.6, 3.59, 3.6, 3.59, 3.61, 3.6, 3.6, 3.59, 3.62, 3.59, 3.58, 3.6, 3.61, 3.6, 3.59, 3.6, 3.59, 3.6, 3.6, 3.59, 3.58, 3.6, 3.6, 3.62, 3.61, 3.6, 3.58, 3.6, 3.6, 3.6, 3.6, 3.58, 3.6, 3.6, 3.61, 3.6]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 19, + "task_plan_idx": 60, + "init_config_idx": 96, + "spawn_selection_idx": 31, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [20, "grasped", null], [[20, 23, 26, 27], "collision", [968.36, 212.73, 446.35, 55.34]], [41, "success", null], [[55, 56, 57, 58, 62, 63, 64, 65, 66, 67, 69, 70, 71, 72, 73, 74, 75, 76, 78, 79, 86, 87, 88, 89, 91, 93, 94, 95, 96, 97, 98, 99, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 114, 115, 116, 119, 120, 121, 122], "collision", [25.73, 94.55, 37.63, 10.34, 29.1, 90.18, 60.27, 72.63, 58.26, 23.62, 66.86, 150.57, 142.36, 91.4, 134.98, 84.42, 14.74, 95.18, 76.55, 52.51, 27.48, 7.86, 31.94, 43.72, 22.84, 26.02, 70.62, 18.55, 30.22, 79.65, 74.07, 18.51, 57.89, 84.42, 3.51, 46.1, 66.06, 59.14, 58.76, 46.58, 94.59, 72.87, 62.64, 100.79, 64.72, 10.36, 30.28, 31.41, 87.54]], [123, "lost_success", null], [[124, 130, 131, 132, 133], "collision", [96.98, 39.62, 69.65, 21.81, 29.89]], [134, "success", null], [143, "lost_success", null], [144, "success", null], [166, "lost_success", null], [173, "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": 20, + "task_plan_idx": 106, + "init_config_idx": 74, + "spawn_selection_idx": 92, + "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], "collision", [32.66]], [37, "success", null], [[37, 38], "collision", [10.41, 24.5]], [39, "lost_success", null], [[39, 40], "collision", [26.45, 14.84]], [41, "success", null], [[41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57], "collision", [17.31, 14.15, 11.47, 10.8, 10.55, 10.74, 8.82, 9.39, 14.63, 20.33, 22.69, 18.34, 29.56, 24.74, 23.59, 21.24, 19.25]], [58, "lost_success", null], [[58, 59, 60, 61, 62, 63, 64], "collision", [15.73, 13.43, 11.41, 11.92, 10.11, 12.15, 12.2]], [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, 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], "collision", [11.85, 13.27, 13.67, 14.03, 12.89, 13.09, 14.03, 13.19, 13.52, 13.18, 12.98, 13.52, 13.72, 13.84, 13.32, 14.06, 13.97, 13.06, 13.31, 12.97, 12.52, 13.34, 14.44, 12.89, 13.39, 14.03, 13.96, 14.22, 13.51, 12.89, 14.05, 13.4, 13.56, 13.69, 13.67, 13.81, 14.24, 13.35, 14.08, 13.79, 13.69, 13.28, 13.49, 14.33, 13.5, 12.88, 13.33, 13.21, 13.2, 12.92, 12.83, 12.43, 12.84, 13.3, 13.68, 12.87, 12.88, 14.75, 12.25, 16.06, 13.43, 13.79, 14.9, 13.6, 13.97, 14.07, 13.47, 14.35, 14.32, 14.09, 13.05, 12.02, 13.8, 13.53, 13.22, 13.14, 13.71, 13.75, 13.62, 13.26, 14.31, 13.57, 14.11, 14.4, 13.47, 12.92, 13.13, 13.67, 12.67, 12.13, 13.57, 13.58, 14.09, 13.35, 13.92, 13.36, 13.66, 8.19]], [163, "lost_success", null], [[163, 164], "collision", [7.82, 1.53]], [192, "success", null]], + "articulation_type": "fridge", + "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": 21, + "task_plan_idx": 39, + "init_config_idx": 75, + "spawn_selection_idx": 68, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [188.6, 194.02, 187.71]], [17, "contact", null], [17, "grasped", null], [[17], "collision", [208.65]], [31, "success", null], [32, "lost_success", null], [37, "success", null], [95, "lost_success", null], [98, "success", null], [99, "lost_success", null], [100, "success", null], [112, "lost_success", null], [113, "success", null], [114, "lost_success", null], [115, "success", null], [117, "lost_success", null], [120, "success", null], [148, "lost_success", null], [149, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 21, + "task_plan_idx": 92, + "init_config_idx": 70, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20], "collision", [334.23]], [23, "contact", null], [23, "grasped", null], [43, "success", null], [45, "lost_success", null], [46, "success", null], [48, "lost_success", null], [49, "success", null]], + "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": 22, + "task_plan_idx": 19, + "init_config_idx": 156, + "spawn_selection_idx": 10, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[3, 5], "collision", [25.5, 56.0]], [12, "contact", null], [12, "grasped", null], [[14], "collision", [1.83]], [25, "success", null], [26, "lost_success", null], [29, "success", null], [30, "lost_success", null], [32, "success", null], [68, "lost_success", null], [69, "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": 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": 23, + "task_plan_idx": 88, + "init_config_idx": 29, + "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, "grasped", null], [[24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 42, 43, 44, 45, 46], "collision", [70.34, 13.99, 23.46, 4.73, 20.77, 21.09, 21.57, 0.52, 1.03, 1.48, 0.36, 0.74, 1.22, 24.26, 1.53, 0.02, 1.49, 0.81]], [47, "success", null], [48, "lost_success", null], [49, "success", null], [[49, 50, 52, 54, 56], "collision", [0.87, 0.12, 0.68, 0.14, 0.98]], [57, "lost_success", null], [[57], "collision", [1.14]], [58, "success", null], [[58, 59], "collision", [0.95, 1.59]], [60, "lost_success", null], [[60, 61, 62, 63], "collision", [0.9, 1.0, 1.32, 1.45]], [64, "success", null], [[64, 65, 66], "collision", [1.61, 1.6, 0.82]], [67, "lost_success", null], [[67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77], "collision", [1.12, 2.08, 2.16, 1.26, 2.27, 1.87, 2.42, 1.54, 2.39, 1.21, 1.97]], [78, "success", null], [[78, 79, 80, 81], "collision", [1.34, 1.53, 3.23, 1.91]], [82, "lost_success", null], [[82], "collision", [0.59]], [83, "success", null], [84, "lost_success", null], [[84, 85, 86], "collision", [0.86, 1.01, 1.56]], [88, "success", null], [[88, 89, 90, 91], "collision", [0.49, 0.04, 1.1, 1.18]], [92, "lost_success", null], [[92, 94], "collision", [0.6, 0.16]], [96, "success", null], [[97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128], "collision", [0.12, 0.39, 0.14, 0.45, 0.47, 0.26, 0.41, 0.25, 0.37, 0.44, 0.22, 0.41, 0.58, 1.35, 0.13, 1.05, 0.87, 0.02, 0.08, 1.01, 0.95, 0.8, 0.74, 1.12, 1.15, 0.41, 0.89, 0.88, 1.64, 1.8, 1.45]], [129, "lost_success", null], [[129], "collision", [0.83]], [130, "success", null], [[130], "collision", [0.17]], [131, "lost_success", null], [[131], "collision", [0.58]], [132, "success", null], [[132, 134, 135], "collision", [0.96, 0.56, 0.82]], [136, "lost_success", null], [[136, 137], "collision", [1.07, 1.38]], [138, "success", null], [[138, 139, 140, 141, 142, 143, 144, 145, 146], "collision", [1.07, 0.79, 1.52, 1.07, 1.58, 1.58, 0.95, 0.55, 1.0]], [147, "lost_success", null], [[147, 149, 150, 151, 152, 153, 154, 156, 157, 158], "collision", [0.64, 1.08, 0.76, 0.07, 0.95, 0.3, 0.42, 1.02, 0.62, 0.44]], [160, "success", null], [[160], "collision", [0.46]], [161, "lost_success", null], [[161], "collision", [1.18]], [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", [1.1, 0.91, 1.05, 1.19, 1.07, 0.56, 0.54, 0.03, 0.99, 0.92, 1.15, 1.23, 0.87, 0.92, 0.9, 0.97, 0.78, 0.9, 1.24, 0.71, 0.76, 0.68, 0.48, 0.74, 1.02, 0.73, 1.23, 0.8, 1.05, 1.0, 1.05, 0.42, 1.31, 0.75, 1.04, 0.89, 1.01, 0.95]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 23, + "task_plan_idx": 163, + "init_config_idx": 164, + "spawn_selection_idx": 14, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10], "collision", [205.11, 232.58]], [13, "contact", null], [13, "grasped", null], [29, "success", null], [72, "lost_success", null], [73, "success", null], [90, "lost_success", null], [91, "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": 24, + "task_plan_idx": 121, + "init_config_idx": 110, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12], "collision", [133.55, 428.56]], [17, "contact", null], [[17], "collision", [511.9]], [18, "grasped", null], [39, "success", null], [40, "lost_success", null], [41, "success", null], [66, "lost_success", null], [70, "success", null], [79, "lost_success", null], [84, "success", null], [93, "lost_success", null], [94, "success", null], [98, "lost_success", null], [99, "success", null], [101, "lost_success", null], [102, "success", null], [115, "lost_success", null], [116, "success", null], [117, "lost_success", null], [119, "success", null], [[120, 121], "collision", [30.5, 29.34]], [123, "lost_success", null], [[123], "collision", [12.61]], [124, "success", null], [[124, 125, 126, 127, 128], "collision", [8.85, 11.66, 34.5, 25.5, 171.21]], [131, "lost_success", null], [[131], "collision", [13.63]], [134, "success", null], [[134], "collision", [72.54]], [135, "lost_success", null], [140, "success", null], [141, "lost_success", null], [142, "success", null], [144, "lost_success", null], [145, "success", null], [149, "lost_success", null], [150, "success", null], [165, "lost_success", null], [166, "success", null], [167, "lost_success", null], [172, "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": 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": 25, + "task_plan_idx": 6, + "init_config_idx": 6, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6], "collision", [773.16]], [11, "contact", null], [13, "lost_contact", null], [14, "contact", null], [14, "grasped", null], [28, "success", null], [32, "lost_success", null], [34, "success", null], [39, "lost_success", null], [41, "success", null], [45, "lost_success", null], [61, "success", null], [62, "lost_success", null], [64, "success", null], [65, "lost_success", null], [66, "success", null], [70, "lost_success", null], [77, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [82, "success", null], [83, "lost_success", null], [86, "success", null], [87, "lost_success", null], [88, "success", null], [110, "lost_success", null], [111, "success", null], [114, "lost_success", null], [115, "success", null], [128, "lost_success", null], [130, "success", null], [142, "lost_success", null], [144, "success", null], [145, "lost_success", null], [146, "success", null], [150, "lost_success", null], [151, "success", null], [166, "lost_success", null], [167, "success", null], [171, "lost_success", null], [172, "success", null], [186, "lost_success", null], [187, "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": 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": 25, + "task_plan_idx": 43, + "init_config_idx": 118, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 8, 14, 15], "collision", [536.7, 436.15, 286.42, 283.83, 8.49]], [19, "contact", null], [19, "grasped", null], [42, "success", null], [48, "lost_success", null], [55, "success", null], [67, "lost_success", null], [72, "success", null], [185, "lost_success", null], [186, "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": 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": 26, + "task_plan_idx": 91, + "init_config_idx": 126, + "spawn_selection_idx": 9, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[21, "contact", null], [21, "grasped", null], [[38, 39, 40, 41, 42, 43, 44, 45, 46], "collision", [37.78, 50.53, 52.67, 44.63, 139.01, 90.7, 29.96, 5.7, 1.07]], [47, "success", null], [[47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59], "collision", [1.55, 0.56, 1.18, 1.37, 1.28, 1.32, 1.35, 1.17, 0.34, 0.61, 1.06, 0.75, 0.79]], [60, "lost_success", null], [[60, 61, 62], "collision", [0.71, 1.2, 0.98]], [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", [0.65, 1.51, 0.81, 0.81, 0.96, 0.53, 1.14, 0.96, 1.65, 1.4, 1.43, 0.77, 1.07, 1.94, 1.3, 1.21, 1.41, 1.23, 1.05, 0.91, 0.95]], [84, "lost_success", null], [[84, 85], "collision", [0.89, 0.81]], [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], "collision", [1.06, 0.91, 1.13, 1.65, 0.82, 1.54, 1.71, 1.83, 0.61, 1.36, 1.22, 1.91, 1.57, 1.68, 1.78, 1.35, 1.94, 2.26, 2.14, 2.44, 1.58, 1.78, 2.41, 1.68, 1.69]], [111, "lost_success", null], [[111, 112, 113, 114, 115, 116, 117], "collision", [1.54, 1.49, 0.9, 1.5, 1.34, 1.22, 0.84]], [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, 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", [0.81, 0.62, 1.16, 1.5, 1.66, 1.67, 1.43, 1.39, 1.38, 1.77, 2.27, 1.81, 1.01, 1.43, 1.07, 1.21, 1.55, 1.33, 1.68, 1.38, 1.81, 1.86, 1.67, 1.5, 1.31, 2.74, 1.7, 1.53, 1.77, 1.29, 1.7, 1.33, 1.64, 1.69, 1.86, 2.39, 2.9, 1.31, 1.91, 1.42, 1.82, 1.49, 1.1, 1.22, 1.23, 1.45, 1.11, 1.41, 1.65, 1.45, 2.08, 2.18, 1.35, 1.1, 1.54, 1.82, 1.93, 1.57, 1.66, 1.32, 2.8, 1.38, 1.33, 1.84, 1.63, 1.87, 1.86, 2.47, 1.57, 1.87, 2.22, 1.49, 1.92, 2.57, 2.15, 1.8, 1.78, 2.21, 1.9, 2.09, 2.54, 1.42]]], + "articulation_type": "fridge", + "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": 26, + "task_plan_idx": 147, + "init_config_idx": 113, + "spawn_selection_idx": 85, + "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], [45, "lost_success", null], [47, "success", null], [53, "lost_success", null], [57, "success", null], [82, "lost_success", null], [87, "success", null], [161, "lost_success", null], [162, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 28, + "task_plan_idx": 82, + "init_config_idx": 20, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [1312.41]], [14, "contact", null], [15, "grasped", null], [38, "success", null], [53, "lost_success", null], [54, "success", null], [62, "lost_success", null], [63, "success", null], [[70], "collision", [331.99]], [71, "lost_success", null], [72, "success", null], [[72, 73, 74], "collision", [62.86, 71.36, 85.76]], [75, "lost_success", null], [[75], "collision", [75.46]], [76, "success", null], [[76, 80], "collision", [143.02, 33.66]], [81, "lost_success", null], [[81], "collision", [19.07]], [82, "success", null], [[94, 98, 99], "collision", [154.29, 88.39, 117.87]], [100, "lost_success", null], [[100], "collision", [24.45]], [101, "success", null], [[101], "collision", [8.65]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 29, + "task_plan_idx": 61, + "init_config_idx": 84, + "spawn_selection_idx": 33, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 10, 11, 12], "collision", [706.98, 158.43, 173.55, 39.97]], [15, "contact", null], [15, "grasped", null], [31, "success", null], [47, "lost_success", null], [48, "success", null], [53, "lost_success", null], [54, "success", null], [[54, 55, 56, 57], "collision", [20.78, 21.07, 3.29, 39.63]], [99, "lost_success", null], [100, "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": 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": 29, + "task_plan_idx": 49, + "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": [[12, "contact", null], [13, "grasped", null], [[14], "collision", [1.64]], [27, "success", null], [57, "lost_success", null], [58, "success", null], [[68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80], "collision", [316.54, 199.82, 135.65, 295.99, 320.26, 53.23, 187.31, 272.98, 61.64, 214.21, 115.71, 54.55, 112.74]], [172, "lost_success", null], [173, "success", null], [174, "lost_success", null], [175, "success", null], [176, "lost_success", null], [177, "success", null], [178, "lost_success", null], [179, "success", null], [183, "lost_success", null], [184, "success", null], [194, "lost_success", null], [195, "success", null], [197, "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": 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": 30, + "task_plan_idx": 145, + "init_config_idx": 132, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14], "collision", [141.58, 206.15, 467.46, 158.57]], [19, "contact", null], [[19], "collision", [1501.44]], [20, "grasped", null], [41, "success", null], [58, "lost_success", null], [62, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [72, "success", null], [[130, 131, 132], "collision", [86.28, 80.03, 63.49]], [187, "lost_success", null], [188, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 30, + "task_plan_idx": 25, + "init_config_idx": 13, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [359.96]], [17, "contact", null], [[17], "collision", [1403.16]], [18, "grasped", null], [32, "success", null], [33, "lost_success", null], [37, "success", null], [38, "lost_success", null], [39, "success", null], [48, "lost_success", null], [64, "success", null], [70, "lost_success", null], [80, "success", null], [90, "lost_success", null], [91, "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": 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": 32, + "task_plan_idx": 12, + "init_config_idx": 137, + "spawn_selection_idx": 59, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7, 8, 9, 10], "collision", [131.72, 453.51, 378.81, 252.13]], [27, "contact", null], [27, "grasped", null], [56, "success", null], [80, "lost_success", null], [82, "success", null], [119, "lost_success", null], [120, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 33, + "task_plan_idx": 81, + "init_config_idx": 45, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[22, "contact", null], [22, "grasped", null], [48, "success", null], [72, "lost_success", null], [73, "success", null], [74, "lost_success", null], [84, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 33, + "task_plan_idx": 77, + "init_config_idx": 87, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14, 15], "collision", [383.05, 273.03, 200.47, 233.79]], [19, "contact", null], [20, "grasped", null], [50, "success", null], [53, "lost_success", null], [54, "success", null], [64, "lost_success", null], [66, "success", null], [67, "lost_success", null], [76, "success", null], [79, "lost_success", null], [89, "success", null], [100, "lost_success", null], [101, "success", null], [122, "lost_success", null], [123, "success", null], [170, "lost_success", null], [172, "success", null], [174, "lost_success", null], [176, "success", null], [181, "lost_success", null], [189, "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": 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": 35, + "task_plan_idx": 90, + "init_config_idx": 86, + "spawn_selection_idx": 91, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11, 12], "collision", [130.76, 155.65, 163.57, 243.44]], [15, "contact", null], [15, "grasped", null], [48, "success", null], [52, "lost_success", null], [53, "success", null], [55, "lost_success", null], [69, "success", null], [71, "lost_success", null], [72, "success", null], [[90, 93, 94], "collision", [45.38, 2.44, 28.58]], [100, "lost_success", null], [124, "success", null], [130, "lost_success", null], [137, "success", null], [155, "lost_success", null], [158, "success", null], [187, "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": 35, + "task_plan_idx": 153, + "init_config_idx": 47, + "spawn_selection_idx": 36, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[10, "contact", null], [10, "grasped", null], [29, "success", null], [45, "lost_success", null], [46, "success", null], [71, "lost_success", null], [72, "success", null], [76, "lost_success", null], [77, "success", null], [78, "lost_success", null], [79, "success", null], [101, "lost_success", null], [102, "success", null], [127, "lost_success", null], [128, "success", null], [147, "lost_success", null], [148, "success", null], [149, "lost_success", null], [167, "success", null], [170, "lost_success", null], [171, "success", null], [172, "lost_success", null], [174, "success", null], [176, "lost_success", null], [177, "success", null], [179, "lost_success", null], [180, "success", null], [195, "lost_success", null], [196, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 36, + "task_plan_idx": 65, + "init_config_idx": 156, + "spawn_selection_idx": 13, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 12], "collision", [758.5, 242.74, 125.68]], [14, "contact", null], [14, "grasped", null], [[20, 21], "collision", [16.9, 78.39]], [44, "success", null], [48, "lost_success", null], [50, "success", null], [65, "lost_success", null], [66, "success", null], [67, "lost_success", null], [68, "success", null], [70, "lost_success", null], [71, "success", null], [81, "lost_success", null], [83, "success", null], [90, "lost_success", null], [93, "success", null], [100, "lost_success", null], [101, "success", null], [129, "lost_success", null], [130, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 37, + "task_plan_idx": 95, + "init_config_idx": 25, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[28, "contact", null], [28, "grasped", null], [[32, 33, 34], "collision", [191.52, 125.67, 117.57]], [53, "success", null], [54, "lost_success", null], [65, "success", null], [75, "lost_success", null], [78, "success", null], [90, "lost_success", null], [93, "success", null], [133, "lost_success", null], [134, "success", null], [135, "lost_success", null], [137, "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": 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": 37, + "task_plan_idx": 151, + "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": [[12, "contact", null], [12, "grasped", null], [[14, 15, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33], "collision", [69.33, 81.89, 67.16, 294.73, 251.73, 24.7, 80.73, 101.54, 96.71, 84.23, 54.71, 57.89, 62.39, 66.68, 61.73, 56.63, 53.02, 42.25, 38.59]], [34, "success", null], [[34, 35, 36], "collision", [18.6, 1.58, 1.1]], [38, "lost_success", null], [[40], "collision", [25.19]], [41, "success", null], [[41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 53, 54, 55, 56, 57, 58, 59, 60, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 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], "collision", [23.33, 15.91, 5.94, 1.22, 6.8, 6.92, 3.79, 10.4, 3.08, 2.13, 2.45, 17.45, 3.95, 0.35, 0.48, 1.81, 0.18, 0.01, 0.16, 16.7, 18.04, 30.31, 25.15, 29.55, 25.91, 24.67, 27.4, 27.81, 29.22, 27.53, 22.74, 22.65, 19.06, 9.34, 21.38, 11.45, 12.15, 15.51, 15.58, 17.87, 15.17, 15.72, 16.13, 15.39, 18.08, 17.72, 16.77, 18.16, 19.32, 16.99, 17.28, 16.93, 14.82, 13.84, 15.31, 14.73, 14.1, 11.43, 12.44, 13.23, 11.84, 13.38, 11.53, 13.1, 17.29, 13.95, 11.67, 12.4, 12.56, 13.55, 17.68, 16.86, 17.39, 15.72, 15.84, 13.34, 11.8, 13.08, 12.22, 13.05, 13.35, 13.33, 12.72, 12.9, 13.46, 11.96, 13.29, 10.47, 12.48, 14.8, 14.56, 18.47, 21.27, 16.71, 19.38, 12.54, 12.78, 15.08, 15.41, 13.24, 13.39, 14.32, 13.27, 13.41, 15.2, 15.86, 8.6, 7.89, 8.22]], [196, "lost_success", null], [198, "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": 37, + "task_plan_idx": 15, + "init_config_idx": 104, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 14, 15], "collision", [216.94, 224.82, 484.55]], [21, "contact", null], [21, "grasped", null], [[25], "collision", [0.58]], [43, "success", null], [51, "lost_success", null], [52, "success", null], [58, "lost_success", null], [59, "success", null], [[65, 66, 67, 68], "collision", [32.36, 27.4, 22.24, 15.73]], [72, "lost_success", null], [74, "success", null], [[95, 96, 97], "collision", [23.34, 25.96, 23.71]], [121, "lost_success", null], [122, "success", null], [126, "lost_success", null], [129, "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": 38, + "task_plan_idx": 125, + "init_config_idx": 56, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [133.78]], [21, "contact", null], [21, "grasped", null], [[37], "collision", [510.9]], [42, "success", null], [58, "lost_success", null], [[58], "collision", [134.46]], [59, "success", null], [[60, 61, 62, 63], "collision", [0.31, 76.18, 101.48, 88.33]], [64, "lost_success", null], [65, "success", null], [70, "lost_success", null], [72, "success", null], [78, "lost_success", null], [80, "success", null], [84, "lost_success", null], [86, "success", null], [91, "lost_success", null], [93, "success", null], [99, "lost_success", null], [101, "success", null], [108, "lost_success", null], [110, "success", null], [114, "lost_success", null], [115, "success", null], [118, "lost_success", null], [119, "success", null], [126, "lost_success", null], [128, "success", null], [129, "lost_success", null], [131, "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": 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": 38, + "task_plan_idx": 46, + "init_config_idx": 91, + "spawn_selection_idx": 66, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7, 8, 10], "collision", [1207.85, 431.85, 174.91, 184.44, 84.54]], [12, "contact", null], [13, "grasped", null], [27, "success", null], [28, "lost_success", null], [29, "success", null], [30, "lost_success", null], [35, "success", null], [36, "lost_success", null], [38, "success", null], [[64, 65, 70], "collision", [20.0, 8.5, 4.42]], [102, "lost_success", null], [103, "success", null], [104, "lost_success", null], [105, "success", null], [109, "lost_success", null], [117, "success", null], [127, "lost_success", null], [128, "success", null], [129, "lost_success", null], [131, "success", null], [141, "lost_success", null], [143, "success", null], [144, "lost_success", null], [150, "success", null], [173, "lost_success", null], [174, "success", null], [176, "lost_success", null], [180, "success", null]], + "articulation_type": "fridge", + "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": 39, + "task_plan_idx": 136, + "init_config_idx": 8, + "spawn_selection_idx": 70, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[14, "contact", null], [14, "grasped", null], [[15, 19, 20, 23, 24, 26, 27], "collision", [1.67, 40.54, 76.52, 14.39, 15.12, 189.52, 125.02]], [28, "success", null], [[28, 29, 30, 31], "collision", [139.25, 157.14, 140.14, 132.63]], [32, "lost_success", null], [[32], "collision", [121.65]], [33, "success", null], [[33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45], "collision", [121.44, 124.67, 135.68, 124.68, 113.94, 24.65, 18.3, 4.74, 8.85, 8.71, 8.09, 8.05, 8.68]], [46, "lost_success", null], [[46, 47, 48, 49, 50, 51, 52], "collision", [7.86, 9.11, 10.53, 10.3, 8.88, 11.42, 9.35]], [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, 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], "collision", [7.44, 6.0, 6.3, 7.97, 8.4, 7.21, 7.65, 10.61, 8.92, 8.58, 8.36, 7.31, 9.6, 10.95, 9.3, 8.65, 9.06, 8.31, 8.09, 6.34, 7.7, 8.83, 6.51, 6.16, 6.36, 7.01, 8.14, 6.57, 6.74, 6.67, 8.09, 8.19, 7.03, 7.16, 6.99, 8.02, 6.52, 7.56, 8.56, 8.9, 7.83, 6.24, 6.63, 7.8, 7.76, 8.75, 8.69, 8.54, 7.95, 8.17, 9.67, 8.85, 9.29, 8.38, 7.12, 6.88, 6.39, 7.66, 6.37, 6.1, 5.66, 7.17, 7.1, 7.39, 8.31, 6.03, 6.06, 6.71, 5.97, 8.4, 7.42, 7.15, 8.89, 7.31, 6.97, 5.84, 7.12, 5.99, 6.57, 6.52, 7.62, 7.16, 6.07, 5.97, 6.87, 6.14, 7.4, 6.0, 7.61, 5.07, 7.28, 8.31, 8.39, 6.27, 7.66, 6.23, 6.6]], [150, "lost_success", null], [[150, 151, 152, 153, 154], "collision", [6.97, 6.68, 5.29, 6.01, 5.77]], [155, "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", [6.06, 6.49, 5.41, 7.28, 7.27, 7.03, 7.61, 7.9, 8.21, 8.81, 7.3, 7.48, 6.85, 8.56, 7.83, 6.21, 6.81, 7.04, 7.09, 6.8, 6.24, 6.42, 7.21, 6.5, 5.81, 6.6, 8.11, 6.57, 9.53, 8.95, 6.49, 7.04, 7.13, 7.33, 7.44, 8.48, 7.83, 8.42, 7.45, 7.27, 7.51, 7.49, 5.96, 6.83, 7.65]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 39, + "task_plan_idx": 15, + "init_config_idx": 130, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 13, 14], "collision", [198.48, 808.16, 168.29]], [20, "contact", null], [20, "grasped", null], [42, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 41, + "task_plan_idx": 68, + "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": [[10, "contact", null], [11, "lost_contact", null], [12, "contact", null], [12, "grasped", null], [25, "success", null], [29, "lost_success", null], [30, "success", null], [33, "lost_success", null], [34, "success", null], [35, "lost_success", null], [37, "success", null], [39, "lost_success", null], [40, "success", null], [[135, 136, 142, 143, 144, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159], "collision", [1.1, 17.89, 13.13, 15.62, 17.0, 41.84, 53.58, 94.84, 66.22, 39.24, 31.04, 38.28, 101.12, 82.44, 82.55, 57.79, 36.53, 8.13, 6.4]], [162, "lost_success", null], [[163], "collision", [0.4]], [164, "success", null], [165, "lost_success", null], [[165, 167, 168], "collision", [7.2, 119.78, 10.15]], [169, "success", null], [[169, 170, 171, 172, 173], "collision", [122.09, 133.87, 142.2, 136.58, 149.72]], [174, "lost_success", null], [[174], "collision", [103.74]], [175, "success", null], [[180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 196, 197, 198, 199], "collision", [94.16, 111.6, 102.7, 142.97, 142.15, 143.06, 136.93, 90.6, 90.86, 46.81, 11.6, 21.86, 77.03, 29.65, 75.42, 73.45]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 41, + "task_plan_idx": 42, + "init_config_idx": 83, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[5, 6, 7], "collision", [234.87, 13.76, 86.05]], [12, "contact", null], [12, "grasped", null], [37, "success", null], [38, "lost_success", null], [39, "success", null], [42, "lost_success", null], [43, "success", null], [50, "lost_success", null], [54, "success", null], [57, "lost_success", null], [67, "success", null], [[100, 101, 102, 103], "collision", [20.24, 16.95, 19.44, 22.93]], [121, "lost_success", null], [122, "success", null], [125, "lost_success", null], [133, "success", null], [175, "lost_success", null], [184, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 42, + "task_plan_idx": 37, + "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": [[[7, 8, 9, 10, 11], "collision", [303.07, 197.4, 197.14, 163.92, 152.51]], [16, "contact", null], [17, "grasped", null], [36, "success", null], [[51], "collision", [8.15]], [52, "lost_success", null], [57, "success", null], [147, "lost_success", null], [148, "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": 42, + "task_plan_idx": 61, + "init_config_idx": 71, + "spawn_selection_idx": 43, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8], "collision", [191.45]], [12, "contact", null], [12, "grasped", null], [26, "success", null], [[31, 48, 55, 56, 57], "collision", [14.71, 3.4, 8.98, 9.02, 2.18]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 43, + "task_plan_idx": 57, + "init_config_idx": 70, + "spawn_selection_idx": 44, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11], "collision", [666.53, 234.45]], [14, "contact", null], [14, "grasped", null], [[15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32], "collision", [7.29, 15.92, 48.52, 118.35, 1.43, 97.3, 121.91, 145.55, 27.17, 19.29, 9.85, 12.44, 13.24, 14.26, 15.32, 15.58, 14.61, 16.59]], [33, "success", null], [[33, 34, 35, 36, 37, 38, 39], "collision", [17.27, 19.46, 17.16, 17.51, 12.88, 11.47, 12.52]], [40, "lost_success", null], [[40], "collision", [12.67]], [41, "success", null], [[41, 42, 43, 44], "collision", [26.98, 43.59, 54.8, 44.43]], [45, "lost_success", null], [[45, 46, 47], "collision", [27.5, 44.47, 42.14]], [48, "success", null], [[48, 49, 50, 51, 57, 64, 65, 68, 90], "collision", [51.43, 15.09, 3.01, 0.18, 0.01, 0.2, 0.18, 0.16, 0.1]], [91, "lost_success", null], [94, "success", null], [[101, 106, 125], "collision", [0.12, 0.05, 0.11]], [139, "lost_success", null], [141, "success", null], [[141, 148, 150, 153, 158, 162, 163, 179], "collision", [0.84, 0.04, 0.58, 0.13, 0.66, 0.03, 0.12, 0.79]], [181, "lost_success", null], [182, "success", null], [183, "lost_success", null], [184, "success", null], [[184, 185, 186, 187, 188, 189, 190, 192, 193], "collision", [0.82, 0.91, 1.55, 6.32, 5.29, 0.53, 0.07, 0.71, 0.18]], [194, "lost_success", null], [[194], "collision", [0.62]], [195, "success", null], [[195, 196, 197, 198, 199], "collision", [0.41, 0.41, 0.71, 11.38, 20.62]]], + "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": 43, + "task_plan_idx": 110, + "init_config_idx": 101, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 21, 22], "collision", [139.87, 128.99, 144.04]], [24, "contact", null], [24, "grasped", null], [[24, 26, 27], "collision", [451.42, 2.25, 0.36]], [75, "success", null], [77, "lost_success", null], [81, "success", null], [89, "lost_success", null], [90, "success", null], [96, "lost_success", null], [104, "success", null], [107, "lost_success", null], [108, "success", null], [159, "lost_success", null], [160, "success", null]], + "articulation_type": "fridge", + "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": 43, + "task_plan_idx": 126, + "init_config_idx": 4, + "spawn_selection_idx": 98, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 20], "collision", [412.19, 631.1, 376.16]], [22, "contact", null], [23, "grasped", null], [[24, 25], "collision", [1.7, 0.34]], [46, "success", null], [48, "lost_success", null], [51, "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, 97, 99, 100, 101, 102, 103, 104, 112, 113, 114, 115, 135, 136, 137, 138, 140, 141, 145, 146, 147, 148, 149, 150, 151, 152, 153, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 181, 182, 185, 190, 191, 192, 193, 195, 196], "collision", [69.33, 107.41, 99.9, 76.74, 91.07, 70.92, 80.88, 95.79, 81.04, 72.08, 90.09, 82.99, 93.63, 91.85, 99.9, 93.26, 80.93, 75.34, 54.46, 64.14, 66.31, 62.72, 31.05, 19.53, 32.01, 22.96, 7.06, 13.79, 10.17, 21.63, 4.54, 0.86, 5.02, 2.95, 10.68, 31.25, 15.51, 5.92, 13.61, 3.42, 16.61, 26.25, 44.21, 9.42, 9.23, 5.67, 7.12, 8.85, 6.39, 17.84, 8.29, 11.32, 5.4, 4.4, 12.6, 19.94, 11.21, 5.32, 15.47, 15.02, 7.35, 9.33, 17.3, 10.46, 9.74, 10.38, 5.82, 3.18, 13.97, 4.28, 13.37, 9.84, 14.45, 1.76, 7.87, 6.64, 1.43, 12.24, 8.99, 0.79, 7.81, 25.18, 8.41, 21.06, 11.59]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 45, + "task_plan_idx": 96, + "init_config_idx": 35, + "spawn_selection_idx": 22, + "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], [[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, 91, 92, 93, 100, 101, 102, 112, 113, 115, 121, 122, 123, 124, 125, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 160], "collision", [57.31, 56.86, 48.28, 52.7, 51.88, 56.2, 44.06, 45.82, 42.42, 38.85, 39.26, 40.53, 38.03, 37.34, 36.03, 30.66, 30.8, 23.98, 27.26, 28.68, 31.49, 31.39, 26.86, 28.15, 25.83, 29.25, 24.88, 27.84, 26.53, 24.64, 21.63, 20.41, 20.91, 16.75, 20.82, 17.83, 19.04, 11.57, 11.41, 9.92, 5.33, 4.4, 4.31, 2.95, 1.36, 2.67, 2.37, 0.39, 6.07, 1.79, 4.92, 5.93, 2.12, 6.88, 6.3, 7.71, 12.58, 5.72, 3.32, 6.29, 6.92, 3.61, 5.81, 1.04, 4.54, 3.48, 2.53, 2.66, 5.45, 4.46, 0.02, 0.03, 5.41]], [181, "lost_success", null], [182, "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": 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": 45, + "task_plan_idx": 132, + "init_config_idx": 7, + "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], [49, "success", null], [51, "lost_success", null], [52, "success", null], [60, "lost_success", null], [61, "success", null], [93, "lost_success", null], [94, "success", null], [95, "lost_success", null], [119, "success", null], [121, "lost_success", null], [122, "success", null], [123, "lost_success", null], [125, "success", null], [126, "lost_success", null]], + "articulation_type": "fridge", + "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": 45, + "task_plan_idx": 21, + "init_config_idx": 162, + "spawn_selection_idx": 53, + "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, 32, 33, 34, 65, 66], "collision", [107.25, 103.62, 24.01, 131.67, 24.67, 38.35]], [67, "success", null], [[67, 68], "collision", [37.78, 24.6]], [69, "lost_success", null], [[69, 70, 71, 72], "collision", [14.18, 3.24, 14.19, 11.4]], [73, "success", null], [[73, 75], "collision", [5.08, 4.02]], [76, "lost_success", null], [77, "success", null], [[77, 78], "collision", [76.46, 6.08]], [79, "lost_success", null], [[79], "collision", [21.9]], [80, "success", null], [[80, 81, 82], "collision", [24.56, 20.4, 8.37]], [83, "lost_success", null], [[83, 84, 85, 86, 87, 88], "collision", [18.18, 9.65, 23.47, 15.11, 65.68, 33.85]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109], "collision", [32.96, 32.9, 21.17, 17.61, 24.1, 33.16, 28.98, 30.11, 37.44, 29.21, 36.35, 21.03, 27.85, 32.44, 29.94, 34.36, 22.4, 28.56, 18.66, 13.5, 13.88]], [110, "lost_success", null], [[110], "collision", [10.54]], [111, "success", null], [[111, 112, 113, 114, 115, 116, 117, 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, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [30.26, 10.11, 2.65, 9.97, 29.61, 18.57, 18.46, 17.3, 17.13, 17.08, 23.04, 18.3, 21.96, 18.89, 18.03, 27.13, 26.58, 28.5, 25.23, 31.66, 26.95, 23.43, 31.96, 27.0, 27.46, 23.09, 24.12, 18.56, 26.23, 23.13, 23.48, 23.18, 27.08, 24.3, 23.97, 22.8, 23.0, 28.54, 21.09, 15.68, 18.22, 18.42, 18.2, 18.12, 15.23, 11.72, 15.41, 19.99, 20.61, 25.77, 22.56, 23.08, 27.78, 23.22, 25.15, 31.86, 34.43, 30.63, 32.5, 23.73, 29.64, 34.05, 33.46, 34.3, 39.0, 34.58, 28.96, 38.58, 35.04, 36.81, 33.83, 27.64, 28.93, 30.08, 23.27, 33.5, 34.7, 31.53, 33.89, 28.85, 32.29, 29.46, 33.99, 33.47, 27.42, 20.06, 23.83]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 47, + "task_plan_idx": 143, + "init_config_idx": 164, + "spawn_selection_idx": 54, + "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", [139.33, 156.84, 197.61, 177.62, 168.4, 291.65]], [18, "contact", null], [[19], "collision", [2.87]], [21, "grasped", null], [67, "success", null], [69, "lost_success", null], [78, "success", null], [149, "lost_success", null], [150, "success", null], [153, "lost_success", null], [155, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 47, + "task_plan_idx": 146, + "init_config_idx": 32, + "spawn_selection_idx": 30, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 12], "collision", [113.4, 228.42]], [15, "contact", null], [16, "grasped", null], [32, "success", null], [[46, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57], "collision", [779.78, 295.77, 443.35, 376.94, 274.93, 224.56, 209.43, 215.28, 194.6, 108.78, 109.39]], [58, "lost_success", null], [[58, 59], "collision", [113.67, 47.47]], [71, "success", null], [72, "lost_success", null], [83, "success", null], [90, "lost_success", null], [97, "success", null], [99, "lost_success", null], [101, "success", null], [103, "lost_success", null], [104, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [109, "success", null], [110, "lost_success", null], [114, "success", null], [116, "lost_success", null], [119, "success", null], [195, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 47, + "task_plan_idx": 149, + "init_config_idx": 74, + "spawn_selection_idx": 80, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10, 11, 12, 13, 14], "collision", [145.45, 983.98, 194.98, 281.27, 31.17]], [16, "contact", null], [16, "grasped", null], [[16], "collision", [6.78]], [37, "success", null], [47, "lost_success", null], [48, "success", null], [49, "lost_success", null], [50, "success", null], [51, "lost_success", null], [52, "success", null], [57, "lost_success", null], [64, "success", null], [114, "lost_success", null], [116, "success", null], [119, "lost_success", null], [120, "success", null], [121, "lost_success", null], [122, "success", null], [154, "lost_success", null], [155, "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": 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": 47, + "task_plan_idx": 78, + "init_config_idx": 121, + "spawn_selection_idx": 89, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9, 10, 11, 12, 13, 14, 15], "collision", [318.52, 192.74, 153.44, 172.19, 178.62, 193.89, 187.05, 179.45, 120.48, 65.24]], [16, "contact", null], [[16, 17], "collision", [35.64, 130.91]], [18, "grasped", null], [41, "success", null], [43, "lost_success", null], [50, "success", null], [54, "lost_success", null], [57, "success", null], [58, "lost_success", null], [61, "success", null], [73, "lost_success", null], [75, "success", null], [77, "lost_success", null], [78, "success", null], [[82, 83], "collision", [4.13, 37.91]], [84, "lost_success", null], [[102, 104], "collision", [691.1, 11.24]], [106, "success", null], [[106, 107, 108, 109, 110, 111, 114, 117, 119, 120], "collision", [75.96, 32.32, 34.1, 35.52, 66.28, 38.48, 194.19, 7.43, 111.51, 75.57]], [123, "lost_success", null], [[123, 124], "collision", [144.2, 60.41]], [125, "success", null], [[129, 130, 131], "collision", [23.03, 44.52, 32.85]], [132, "lost_success", null], [[132, 133, 134], "collision", [33.84, 1.41, 24.05]], [136, "success", null], [[136], "collision", [8.43]], [137, "lost_success", null], [139, "success", null], [140, "lost_success", null], [160, "success", null], [175, "lost_success", null], [178, "success", null], [180, "lost_success", null], [182, "success", null]], + "articulation_type": "fridge", + "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": 48, + "task_plan_idx": 131, + "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": [[[11, 16, 17], "collision", [241.1, 817.0, 242.37]], [22, "contact", null], [23, "grasped", null], [[23], "collision", [125.45]], [46, "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": 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": 48, + "task_plan_idx": 67, + "init_config_idx": 66, + "spawn_selection_idx": 23, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [210.32]], [12, "contact", null], [13, "lost_contact", null], [15, "contact", null], [15, "grasped", null], [29, "success", null]], + "articulation_type": "fridge", + "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": 48, + "task_plan_idx": 66, + "init_config_idx": 78, + "spawn_selection_idx": 81, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[20, 21, 22], "collision", [164.73, 362.0, 278.1]], [26, "contact", null], [26, "grasped", null], [[57, 58], "collision", [40.72, 81.57]], [68, "success", null], [97, "lost_success", null], [98, "success", null], [100, "lost_success", null], [101, "success", null], [109, "lost_success", null], [127, "success", null], [128, "lost_success", null], [144, "success", null], [153, "lost_success", null], [157, "success", null], [158, "lost_success", null], [176, "success", null]], + "articulation_type": "fridge", + "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": 49, + "task_plan_idx": 83, + "init_config_idx": 104, + "spawn_selection_idx": 78, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[13, 14, 15, 18, 19], "collision", [544.46, 204.12, 183.94, 126.06, 1345.92]], [20, "contact", null], [20, "grasped", null], [[20], "collision", [258.97]], [44, "success", null], [48, "lost_success", null], [49, "success", null], [54, "lost_success", null], [67, "success", null], [79, "lost_success", null], [82, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 139, + "init_config_idx": 61, + "spawn_selection_idx": 95, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[19, 22, 23, 25], "collision", [107.59, 189.9, 209.07, 177.78]], [26, "contact", null], [[26, 27, 28], "collision", [225.84, 242.93, 168.34]], [30, "grasped", null], [[30], "collision", [382.12]], [61, "success", null], [67, "lost_success", null], [91, "success", null], [143, "lost_success", null], [145, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 27, + "init_config_idx": 63, + "spawn_selection_idx": 87, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 20, 21], "collision", [379.09, 142.48, 17.98]], [23, "contact", null], [23, "grasped", null], [[23, 24, 25, 26, 27, 30, 31, 32, 33, 34, 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], "collision", [558.04, 98.74, 57.14, 25.15, 7.63, 0.01, 0.81, 4.79, 2.17, 2.58, 5.52, 6.77, 21.28, 57.63, 41.34, 46.54, 75.17, 22.18, 33.32, 13.66, 8.61, 4.12, 5.44, 4.83, 4.32, 5.53, 5.35, 5.82, 5.73, 5.17, 4.96, 4.01, 4.72, 6.3, 7.35, 6.81, 7.33, 3.7, 1.36, 1.32, 0.83, 0.2, 2.01, 1.66, 4.82]], [71, "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, 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], "collision", [2.17, 4.98, 3.95, 3.69, 4.1, 2.17, 2.47, 2.19, 2.99, 3.13, 3.03, 1.83, 3.29, 2.51, 2.07, 4.17, 2.62, 5.68, 6.14, 7.58, 7.88, 4.95, 2.0, 6.12, 8.93, 8.45, 4.56, 1.35, 1.81, 1.42, 4.74, 2.25, 8.01, 4.94, 2.81, 1.52, 4.72, 4.99, 7.96, 7.67, 7.51, 4.9, 3.27, 3.35, 5.85, 1.31, 5.31, 6.72, 1.39, 2.31, 2.6, 2.38, 1.75, 2.57, 3.75, 1.99, 2.02, 2.4, 3.58, 2.52, 3.15, 2.08, 2.77, 4.65, 1.7, 2.52, 3.72, 9.34, 11.6, 12.68, 4.25, 6.33, 7.06, 8.63, 8.75, 7.22, 7.44, 7.73, 7.44, 7.32, 8.38, 6.12, 6.01, 4.83, 4.0, 3.36, 3.48, 4.73, 3.06, 4.51, 3.13, 2.62, 2.67]], [164, "lost_success", null], [[164, 165, 166, 167], "collision", [3.08, 2.87, 3.1, 3.84]], [168, "success", null], [[168, 169, 170, 171, 172, 173, 174], "collision", [3.51, 2.77, 2.51, 3.52, 2.53, 2.81, 2.83]], [175, "lost_success", null], [[175], "collision", [2.54]], [176, "success", null], [[176], "collision", [5.68]], [177, "lost_success", null], [[177, 178, 179], "collision", [4.42, 3.02, 5.25]], [180, "success", null], [[180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [1.76, 2.71, 2.11, 4.14, 3.89, 4.14, 7.89, 3.99, 5.69, 4.16, 4.75, 8.9, 5.65, 3.12, 2.77, 3.69, 4.71, 5.14, 3.83, 6.05]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 50, + "task_plan_idx": 41, + "init_config_idx": 45, + "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], [23, "grasped", null], [[37, 38, 39, 40, 41, 42], "collision", [28.6, 37.56, 58.88, 68.49, 129.25, 124.5]], [43, "success", null], [[43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54], "collision", [90.35, 103.18, 90.9, 84.23, 96.32, 62.55, 43.17, 14.8, 7.59, 7.97, 8.76, 8.95]], [55, "lost_success", null], [[55], "collision", [6.53]], [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, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96], "collision", [8.0, 7.29, 8.56, 7.56, 9.54, 9.01, 8.94, 6.8, 6.36, 6.08, 7.01, 7.05, 7.82, 6.66, 6.32, 6.14, 6.44, 5.56, 14.07, 22.72, 28.49, 32.29, 30.37, 99.7, 86.21, 75.4, 79.82, 84.95, 90.85, 70.42, 75.19, 89.08, 68.22, 56.65, 57.3, 60.58, 60.36, 59.53, 37.93, 56.93, 57.78]], [97, "lost_success", null], [[97], "collision", [56.37]], [98, "success", null], [[98], "collision", [40.21]], [99, "lost_success", null], [[99], "collision", [53.36]], [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, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131], "collision", [48.03, 47.64, 49.31, 47.63, 49.23, 47.13, 44.39, 44.91, 44.45, 48.01, 48.88, 51.03, 54.84, 57.12, 56.93, 57.56, 59.63, 61.86, 61.73, 60.92, 61.03, 59.44, 57.54, 52.96, 57.99, 54.02, 66.0, 64.85, 38.7, 40.56, 40.13, 12.72]], [132, "lost_success", null], [[132], "collision", [9.9]], [133, "success", null], [[133, 134, 135], "collision", [11.34, 37.69, 41.17]], [136, "lost_success", null], [[136, 137], "collision", [12.86, 29.98]], [140, "success", null]], + "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": 51, + "task_plan_idx": 110, + "init_config_idx": 93, + "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], [[41, 42, 43, 44], "collision", [116.59, 115.52, 99.91, 105.85]], [45, "success", null], [[45, 46, 47, 48], "collision", [97.4, 103.28, 112.66, 118.84]], [49, "lost_success", null], [[49], "collision", [134.61]], [50, "success", null], [[50, 51, 52, 53, 54, 55, 56, 57], "collision", [120.6, 142.53, 138.84, 155.41, 127.35, 101.35, 85.96, 82.13]], [58, "lost_success", null], [[58], "collision", [100.16]], [59, "success", null], [[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], "collision", [75.9, 70.02, 58.67, 48.17, 34.58, 26.28, 25.03, 19.22, 21.4, 22.14, 20.76, 20.13, 11.12, 12.79, 17.74, 20.33, 13.81, 12.99, 11.4, 14.07, 9.26, 10.11, 10.05, 9.93, 10.84, 11.15, 10.57, 10.77, 11.51, 11.63, 10.38, 10.52, 10.19, 4.42, 7.88, 3.15, 4.3, 4.36, 4.44, 4.84, 4.72, 4.7, 4.81, 4.44, 4.79]], [104, "lost_success", null], [[104], "collision", [4.55]], [105, "success", null], [[105, 106, 107], "collision", [5.89, 5.35, 5.61]], [108, "lost_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, 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", [5.6, 5.13, 4.68, 6.46, 5.47, 6.05, 5.9, 6.37, 7.03, 8.03, 17.3, 15.41, 16.22, 15.18, 15.23, 15.09, 14.53, 16.17, 17.64, 17.41, 14.8, 16.8, 15.56, 16.0, 15.0, 15.71, 18.69, 19.21, 17.41, 16.7, 16.8, 15.32, 18.33, 17.79, 17.06, 15.76, 17.02, 17.9, 16.48, 17.0, 17.56, 18.16, 16.79, 17.44, 17.05, 17.28, 17.75, 18.21, 18.32, 17.59, 16.65, 18.8, 15.46, 17.47, 17.87, 17.35, 17.3, 18.47, 17.1, 17.1, 17.52, 17.27, 17.91, 16.02, 16.32, 17.83, 18.33, 17.6, 17.0, 17.3, 16.82, 16.9, 17.11, 17.46, 17.23, 15.91, 16.55, 16.66, 17.02, 17.75, 16.03, 16.71, 17.54, 18.03, 16.69, 16.67, 16.81, 16.98, 17.08, 17.37, 17.27, 17.17]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 51, + "task_plan_idx": 48, + "init_config_idx": 16, + "spawn_selection_idx": 22, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [160.66]], [20, "contact", null], [21, "lost_contact", null], [22, "contact", null], [22, "grasped", null], [[24, 25, 40, 41], "collision", [2.75, 0.64, 10.81, 1.52]], [47, "success", null]], + "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": 51, + "task_plan_idx": 123, + "init_config_idx": 117, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18, 20], "collision", [289.43, 1143.39]], [23, "contact", null], [23, "grasped", null], [[23], "collision", [1047.41]], [41, "success", null], [[42, 43, 44, 46, 51, 52, 54], "collision", [134.78, 278.5, 79.71, 17.81, 407.21, 207.54, 147.82]], [55, "lost_success", null], [[55], "collision", [135.77]], [56, "success", null], [[57], "collision", [6.07]], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [62, "success", null], [[65, 66, 67, 68], "collision", [45.93, 58.83, 32.21, 71.43]], [69, "lost_success", null], [[69], "collision", [20.48]], [70, "success", null], [[74], "collision", [139.21]], [80, "lost_success", null], [81, "success", null], [84, "lost_success", null], [90, "success", null], [100, "lost_success", null], [101, "success", null], [102, "lost_success", null], [104, "success", null], [108, "lost_success", null], [109, "success", null], [110, "lost_success", null], [111, "success", null], [195, "lost_success", null], [196, "success", null], [199, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 52, + "task_plan_idx": 11, + "init_config_idx": 121, + "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], [[27], "collision", [776.56]], [37, "success", null], [38, "lost_success", null], [[42], "collision", [17.81]], [67, "success", null], [77, "lost_success", null], [83, "success", null], [85, "lost_success", null], [92, "success", null], [97, "lost_success", null], [106, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 53, + "task_plan_idx": 11, + "init_config_idx": 24, + "spawn_selection_idx": 53, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 18], "collision", [96.32, 88.66, 90.1]], [21, "contact", null], [22, "grasped", null], [[30, 31], "collision", [47.3, 155.17]], [43, "success", null], [51, "lost_success", null], [[51], "collision", [203.84]], [52, "success", null], [[55, 56, 57, 65, 67, 68, 69, 70, 71, 73], "collision", [69.63, 91.22, 68.6, 75.34, 77.12, 51.35, 23.51, 20.08, 3.75, 9.05]], [91, "lost_success", null], [94, "success", null], [95, "lost_success", null], [101, "success", null], [102, "lost_success", null], [118, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 53, + "task_plan_idx": 36, + "init_config_idx": 46, + "spawn_selection_idx": 40, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 15, 16], "collision", [1091.79, 109.32, 22.14]], [18, "contact", null], [19, "grasped", null], [46, "success", null], [47, "lost_success", null], [49, "success", null], [75, "lost_success", null], [76, "success", null], [82, "lost_success", null], [83, "success", null], [112, "lost_success", null], [113, "success", null], [114, "lost_success", null], [116, "success", null], [128, "lost_success", null], [129, "success", null], [151, "lost_success", null], [152, "success", null], [157, "lost_success", null], [158, "success", null], [159, "lost_success", null], [160, "success", null], [164, "lost_success", null], [165, "success", null], [166, "lost_success", null], [168, "success", null], [171, "lost_success", null], [172, "success", null], [180, "lost_success", null], [181, "success", null], [182, "lost_success", null], [192, "success", null], [193, "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": 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": 54, + "task_plan_idx": 86, + "init_config_idx": 86, + "spawn_selection_idx": 19, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7], "collision", [2650.38, 87.33]], [13, "contact", null], [13, "grasped", null], [26, "success", null], [31, "lost_success", null], [35, "success", null], [64, "lost_success", null], [69, "success", null], [70, "lost_success", null], [72, "success", null], [73, "lost_success", null], [86, "success", null], [89, "lost_success", null], [96, "success", null], [163, "lost_success", null], [196, "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": 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": 54, + "task_plan_idx": 60, + "init_config_idx": 44, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14], "collision", [5.28]], [16, "contact", null], [17, "grasped", null], [[17, 18, 27, 28], "collision", [736.08, 1052.61, 32.42, 55.41]], [46, "success", null], [59, "lost_success", null], [60, "success", null], [120, "lost_success", null], [121, "success", null], [123, "lost_success", null], [129, "success", null], [131, "lost_success", null], [134, "success", null], [153, "lost_success", null], [154, "success", null], [188, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 54, + "task_plan_idx": 62, + "init_config_idx": 19, + "spawn_selection_idx": 51, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 10, 11], "collision", [633.54, 676.11, 342.19]], [20, "contact", null], [20, "grasped", null], [[25, 26, 30], "collision", [2.12, 6.14, 2.68]], [41, "success", null], [195, "lost_success", null], [196, "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": 55, + "task_plan_idx": 14, + "init_config_idx": 109, + "spawn_selection_idx": 50, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16, 17, 27, 28, 29, 31], "collision", [264.08, 285.88, 19.29, 2.89, 93.2, 168.13]], [32, "contact", null], [[33], "collision", [1432.33]], [34, "grasped", null], [[34], "collision", [956.33]], [55, "success", null], [82, "lost_success", null], [83, "success", null], [84, "lost_success", null], [85, "success", null], [87, "lost_success", null], [88, "success", null], [89, "lost_success", null], [90, "success", null], [113, "lost_success", null], [116, "success", null], [118, "lost_success", null], [119, "success", null], [133, "lost_success", null], [134, "success", null], [194, "lost_success", null]], + "articulation_type": "fridge", + "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": 55, + "task_plan_idx": 9, + "init_config_idx": 62, + "spawn_selection_idx": 62, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[6, 7, 8, 9], "collision", [584.6, 287.17, 289.9, 232.83]], [12, "contact", null], [[12], "collision", [38.28]], [13, "grasped", null], [[20, 21, 22, 23, 24, 25, 26, 27, 28], "collision", [23.14, 7.2, 6.53, 12.86, 83.7, 9.66, 12.1, 10.45, 9.24]], [29, "success", null], [[29], "collision", [10.01]], [30, "lost_success", null], [[30], "collision", [10.91]], [31, "success", null], [[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, 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, 194, 195, 196, 197, 198, 199], "collision", [10.52, 10.92, 10.09, 9.64, 10.46, 11.6, 10.83, 11.05, 10.67, 106.77, 78.35, 67.33, 53.37, 57.37, 66.34, 49.58, 60.23, 67.63, 59.68, 50.75, 12.33, 72.6, 11.69, 41.29, 32.04, 28.87, 13.71, 22.03, 11.33, 29.06, 9.94, 11.82, 11.07, 13.29, 11.23, 11.41, 9.78, 13.45, 10.53, 13.12, 10.89, 11.96, 10.53, 11.76, 10.87, 13.1, 10.75, 10.72, 10.18, 12.1, 12.57, 10.25, 10.84, 12.3, 13.09, 12.53, 11.2, 12.1, 10.72, 11.0, 11.29, 10.91, 11.64, 11.39, 10.7, 10.75, 11.71, 11.24, 11.62, 11.04, 10.26, 11.05, 12.82, 10.84, 9.83, 9.34, 11.55, 10.34, 11.14, 11.3, 10.48, 10.58, 9.73, 10.73, 9.86, 11.12, 11.98, 10.6, 11.29, 11.91, 10.85, 11.18, 11.49, 10.69, 11.6, 13.32, 11.33, 10.16, 12.68, 11.13, 11.22, 11.77, 11.25, 12.27, 10.97, 10.82, 11.44, 10.66, 11.47, 10.99, 11.23, 11.45, 10.04, 11.53, 10.46, 12.68, 11.08, 11.83, 10.35, 11.41, 11.0, 10.48, 10.86, 11.38, 11.14, 11.03, 10.2, 11.49, 11.66, 10.91, 10.91, 11.59, 10.84, 10.9, 9.84, 11.02, 9.85, 9.97, 10.74, 10.38, 10.41, 11.89, 11.54, 9.84, 10.83, 10.14, 11.71, 11.47, 10.97, 11.12, 12.79, 10.7, 10.76, 10.97, 13.37, 10.3, 9.96, 9.41, 11.51, 12.08, 9.7, 9.71, 9.4, 10.36, 9.68, 8.94, 10.85, 9.93, 10.76]]], + "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": 56, + "task_plan_idx": 124, + "init_config_idx": 62, + "spawn_selection_idx": 97, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9], "collision", [271.04]], [26, "contact", null], [26, "grasped", null], [56, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [72, "success", null], [78, "lost_success", null], [79, "success", null], [80, "lost_success", null], [82, "success", null], [84, "lost_success", null], [85, "success", null], [98, "lost_success", null], [99, "success", null], [100, "lost_success", null], [[100, 101], "collision", [9.04, 135.21]], [102, "success", null], [[102], "collision", [94.02]], [103, "lost_success", null], [[103], "collision", [34.77]], [104, "success", null], [[104], "collision", [37.58]], [167, "lost_success", null], [174, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 56, + "task_plan_idx": 87, + "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": [[[4, 5, 6, 7], "collision", [292.93, 194.56, 161.88, 210.38]], [13, "contact", null], [14, "grasped", null], [32, "success", null], [64, "lost_success", null], [78, "success", null], [79, "lost_success", null], [82, "success", null], [105, "lost_success", null], [106, "success", null], [121, "lost_success", null], [122, "success", null], [134, "lost_success", null], [135, "success", null], [136, "lost_success", null], [137, "success", null], [138, "lost_success", null], [139, "success", null], [140, "lost_success", null], [143, "success", null], [152, "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": 56, + "task_plan_idx": 29, + "init_config_idx": 53, + "spawn_selection_idx": 57, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[16], "collision", [33.76]], [26, "contact", null], [29, "grasped", null], [49, "success", null], [53, "lost_success", null], [54, "success", null], [63, "lost_success", null], [72, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 57, + "task_plan_idx": 68, + "init_config_idx": 88, + "spawn_selection_idx": 47, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 4, 5, 6, 7], "collision", [310.16, 212.96, 166.65, 155.44, 152.7, 136.41]], [12, "contact", null], [12, "grasped", null], [29, "success", null], [30, "lost_success", null], [32, "success", null], [33, "lost_success", null], [34, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 57, + "task_plan_idx": 46, + "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": [[[2, 6, 7, 8], "collision", [878.74, 597.85, 160.97, 452.14]], [14, "contact", null], [15, "grasped", null], [33, "success", null], [34, "lost_success", null], [35, "success", null], [39, "lost_success", null], [40, "success", null], [41, "lost_success", null], [42, "success", null], [44, "lost_success", null], [45, "success", null], [[46, 47, 48, 49], "collision", [63.1, 26.9, 44.13, 54.34]], [50, "lost_success", null], [[50], "collision", [36.71]], [52, "success", null], [[55, 60, 62, 64, 65, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179], "collision", [65.84, 73.27, 37.01, 19.8, 34.65, 13.9, 82.82, 61.28, 93.93, 64.0, 66.11, 42.26, 43.96, 82.06, 90.45, 110.52, 59.57, 98.38, 93.13]], [180, "lost_success", null], [[180], "collision", [47.17]], [181, "success", null], [[181], "collision", [167.45]], [182, "lost_success", null], [[182], "collision", [65.06]], [183, "success", null], [[183], "collision", [120.99]], [184, "lost_success", null], [185, "success", null], [[185], "collision", [55.72]], [186, "lost_success", null], [[186, 187], "collision", [62.6, 75.84]], [188, "success", null], [[188, 189, 191, 192], "collision", [77.22, 85.61, 50.16, 30.59]], [196, "lost_success", null], [197, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 57, + "task_plan_idx": 147, + "init_config_idx": 55, + "spawn_selection_idx": 93, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[10], "collision", [1907.2]], [15, "contact", null], [15, "grasped", null], [[24, 27, 28], "collision", [11.65, 23.63, 21.68]], [29, "success", null], [[29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48], "collision", [22.89, 24.08, 19.72, 19.12, 28.55, 20.39, 14.16, 12.3, 12.72, 18.86, 35.22, 47.22, 55.22, 27.92, 36.45, 44.47, 4.47, 9.32, 22.25, 36.23]], [49, "lost_success", null], [[49, 50, 52], "collision", [31.31, 0.06, 2.04]], [53, "success", null], [[54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64], "collision", [3.86, 52.09, 79.63, 29.11, 137.72, 75.44, 81.72, 3.44, 37.61, 33.29, 58.62]], [65, "lost_success", null], [[65], "collision", [10.9]], [66, "success", null], [[66, 67], "collision", [2.46, 3.47]], [68, "lost_success", null], [[68], "collision", [4.32]], [69, "success", null], [[69], "collision", [4.94]], [70, "lost_success", null], [[70, 71, 72, 73], "collision", [4.03, 4.11, 2.99, 3.02]], [74, "success", null], [[74], "collision", [5.01]], [75, "lost_success", null], [[75], "collision", [3.14]], [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, 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", [4.75, 3.85, 3.6, 3.71, 4.73, 3.65, 4.62, 4.25, 5.12, 3.84, 4.89, 5.16, 3.98, 4.84, 3.53, 5.16, 3.76, 4.95, 3.24, 5.43, 3.52, 5.04, 4.15, 4.51, 3.52, 4.73, 4.27, 5.72, 4.54, 5.94, 3.9, 6.02, 4.73, 6.02, 4.59, 5.73, 4.09, 5.77, 4.33, 6.04, 4.33, 5.75, 3.68, 5.37, 3.97, 5.54, 3.67, 5.35, 3.93, 5.52, 4.02, 5.4, 3.66, 5.7, 4.16, 5.62, 3.69, 5.71, 4.66, 6.07, 4.09, 5.78, 4.47, 5.93, 3.98, 5.09, 3.44, 5.5, 3.88, 5.8, 3.63, 5.24, 4.35, 5.9, 4.11, 5.39, 3.45, 5.59, 4.19]], [155, "lost_success", null], [[155], "collision", [5.34]], [156, "success", null], [[156], "collision", [4.2]], [157, "lost_success", null], [[157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167], "collision", [5.46, 5.44, 4.02, 4.66, 25.68, 24.32, 19.92, 3.65, 3.98, 3.3, 4.53]], [168, "success", null], [[168], "collision", [4.08]], [169, "lost_success", null], [[169, 170, 171], "collision", [4.28, 3.19, 4.72]], [172, "success", null], [[172], "collision", [16.93]], [173, "lost_success", null], [[173, 174, 175, 176], "collision", [7.15, 15.89, 4.25, 3.47]], [177, "success", null], [[177], "collision", [10.5]], [178, "lost_success", null], [[178], "collision", [3.81]], [179, "success", null], [[179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195], "collision", [16.0, 27.55, 33.57, 40.06, 20.17, 23.94, 16.82, 9.37, 16.71, 11.93, 23.04, 15.27, 11.64, 9.42, 3.43, 4.39, 23.3]], [196, "lost_success", null], [[196, 197], "collision", [8.52, 34.13]], [198, "success", null], [[198, 199], "collision", [18.43, 11.34]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 88, + "init_config_idx": 95, + "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], [[16, 17, 18, 19, 20, 21], "collision", [49.59, 73.12, 73.79, 81.65, 63.07, 108.6]], [22, "success", null], [[22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36], "collision", [74.1, 44.65, 51.6, 44.12, 50.79, 50.29, 40.15, 45.81, 43.78, 50.03, 33.05, 36.69, 35.98, 30.65, 0.01]], [56, "lost_success", null], [68, "success", null], [69, "lost_success", null], [70, "success", null], [71, "lost_success", null], [74, "success", null], [75, "lost_success", null], [77, "success", null], [[78, 79, 80, 81], "collision", [1.86, 5.56, 3.99, 6.16]], [82, "lost_success", null], [[82, 83, 84, 85, 86, 87, 88], "collision", [5.35, 4.65, 2.58, 2.81, 3.19, 4.56, 1.32]], [89, "success", null], [[89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108], "collision", [2.24, 4.23, 2.07, 2.96, 3.47, 3.99, 2.85, 3.86, 2.93, 3.58, 3.34, 2.95, 4.38, 3.35, 5.64, 4.85, 5.21, 4.13, 4.35, 3.54]], [109, "lost_success", null], [[109], "collision", [6.98]], [110, "success", null], [[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, 143, 144, 146, 147, 148, 149, 150, 151, 161, 162, 163, 164, 165, 166, 167, 168, 169, 172, 173, 174], "collision", [17.24, 13.37, 18.06, 22.07, 20.49, 21.86, 27.93, 30.73, 45.59, 66.84, 78.41, 41.44, 35.51, 22.5, 27.4, 33.69, 44.68, 54.13, 57.78, 46.56, 51.54, 38.46, 43.69, 52.2, 34.65, 14.2, 5.53, 4.4, 15.14, 12.01, 4.51, 6.21, 1.01, 0.53, 0.09, 2.23, 14.22, 5.59, 3.52, 4.08, 1.2, 9.39, 21.17, 36.5, 28.26, 18.54, 9.11, 2.41, 6.17, 0.22, 0.82, 3.45]], [175, "lost_success", null], [[175], "collision", [5.82]], [176, "success", null], [[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", [6.69, 6.68, 7.68, 8.81, 8.49, 8.29, 12.49, 16.22, 12.32, 15.08, 10.64, 6.35, 7.49, 9.66, 15.01, 13.58, 20.38, 26.36, 33.64, 33.94, 26.51, 29.66, 47.78, 50.83]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 23, + "init_config_idx": 137, + "spawn_selection_idx": 4, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[16, "contact", null], [16, "grasped", null], [29, "success", null], [49, "lost_success", null], [50, "success", null], [53, "lost_success", null], [60, "success", null], [61, "lost_success", null], [67, "success", null], [68, "lost_success", null], [76, "success", null], [87, "lost_success", null], [88, "success", null], [91, "lost_success", null], [102, "success", null], [116, "lost_success", null], [119, "success", null], [[123, 126, 127, 128, 129, 130, 131, 133, 134, 135, 136, 137, 138, 139, 140], "collision", [31.18, 54.13, 14.33, 47.37, 31.13, 17.43, 36.4, 48.34, 77.87, 57.68, 24.59, 1.66, 88.34, 133.96, 108.75]], [141, "lost_success", null], [142, "success", null], [[142, 152], "collision", [89.64, 29.2]], [168, "lost_success", null], [170, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 58, + "task_plan_idx": 116, + "init_config_idx": 146, + "spawn_selection_idx": 49, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[8, 9, 10], "collision", [139.32, 722.33, 187.41]], [14, "contact", null], [14, "grasped", null], [34, "success", null], [51, "lost_success", null], [52, "success", null], [53, "lost_success", null], [54, "success", null], [55, "lost_success", null], [56, "success", null], [[58], "collision", [58.54]], [59, "lost_success", null], [60, "success", null], [61, "lost_success", null], [64, "success", null], [74, "lost_success", null], [77, "success", null], [95, "lost_success", null], [97, "success", null], [[150, 154, 156, 157, 158], "collision", [1137.01, 407.84, 278.05, 34.61, 6.17]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 59, + "task_plan_idx": 66, + "init_config_idx": 74, + "spawn_selection_idx": 86, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[18], "collision", [216.41]], [21, "contact", null], [21, "grasped", null], [[25], "collision", [16.85]], [72, "success", null], [93, "lost_success", null], [94, "success", null], [95, "lost_success", null], [96, "success", null], [98, "lost_success", null], [100, "success", null], [101, "lost_success", null], [103, "success", null], [106, "lost_success", null], [107, "success", null], [113, "lost_success", null], [120, "success", null], [123, "lost_success", null], [124, "success", null], [198, "lost_success", null]], + "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": 59, + "task_plan_idx": 82, + "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": [[[10, 11, 12, 13, 14], "collision", [348.99, 245.34, 233.27, 202.82, 260.67]], [17, "contact", null], [17, "grasped", null], [37, "success", null], [49, "lost_success", null], [52, "success", null], [55, "lost_success", null], [56, "success", null], [170, "lost_success", null], [171, "success", null], [178, "lost_success", null], [179, "success", null], [184, "lost_success", null], [185, "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": 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": 60, + "task_plan_idx": 48, + "init_config_idx": 103, + "spawn_selection_idx": 28, + "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], [41, "lost_success", null], [42, "success", null], [61, "lost_success", null], [63, "success", null], [64, "lost_success", null], [67, "success", null], [[68], "collision", [34.67]], [69, "lost_success", null], [[69, 70], "collision", [50.96, 75.13]], [71, "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], "collision", [110.33, 137.87, 112.54, 47.28, 64.54, 70.04, 81.8, 99.99, 71.37, 114.29, 167.61, 165.94, 150.9, 154.77, 127.3, 114.71, 164.07, 150.32, 136.32, 155.91, 137.88, 110.13, 87.04, 72.59, 41.2, 32.54, 8.39, 24.7, 42.87, 25.13, 33.14]], [102, "lost_success", null], [[102, 103, 104, 105, 106], "collision", [13.53, 16.63, 13.47, 13.4, 14.05]], [107, "success", null], [[107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119], "collision", [13.43, 13.76, 14.0, 14.12, 15.41, 15.33, 30.36, 27.58, 16.51, 16.09, 15.37, 15.13, 16.06]], [120, "lost_success", null], [[120, 121], "collision", [15.43, 15.03]], [122, "success", null], [[122], "collision", [15.87]], [123, "lost_success", null], [[123, 124, 125, 126], "collision", [16.34, 16.6, 16.37, 16.54]], [127, "success", null], [[127, 128], "collision", [16.06, 15.86]], [129, "lost_success", null], [[129, 130, 131], "collision", [15.78, 16.0, 15.64]], [132, "success", null], [[132, 133, 134], "collision", [16.0, 15.94, 17.11]], [135, "lost_success", null], [[135, 136, 137, 138, 139, 140, 141, 142, 143], "collision", [16.73, 13.21, 11.08, 11.83, 11.21, 10.83, 9.88, 16.26, 14.25]], [144, "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], "collision", [14.32, 16.23, 14.46, 16.02, 14.59, 14.77, 13.24, 14.87, 14.91, 14.72, 13.4, 13.96, 16.37, 15.68, 16.11, 15.5, 16.42, 15.26, 15.47, 16.17, 15.2, 16.28, 16.12, 15.79, 15.85]], [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", [15.3, 16.01, 14.78, 14.82, 15.67, 15.36, 14.99, 15.1, 13.45, 15.52, 16.5, 14.87, 15.63, 17.0, 15.5, 15.78, 15.72, 16.64, 15.37, 15.83, 15.43, 15.19, 14.98, 15.0, 15.99, 15.54, 14.82, 15.78, 16.6, 16.19, 16.16]]], + "articulation_type": "fridge", + "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": 61, + "task_plan_idx": 13, + "init_config_idx": 87, + "spawn_selection_idx": 56, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[2, 3, 13], "collision", [481.55, 184.91, 8.11]], [14, "contact", null], [14, "grasped", null], [30, "success", null], [36, "lost_success", null], [38, "success", null], [[72, 73], "collision", [50.25, 30.77]], [78, "lost_success", null], [80, "success", null], [81, "lost_success", null], [82, "success", null], [[85, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108], "collision", [55.25, 216.29, 214.02, 43.33, 186.85, 125.34, 167.59, 264.95, 190.68, 176.72, 134.62, 121.56, 68.31, 132.34, 144.63, 150.67, 199.71, 167.03, 178.3, 217.6, 106.23, 187.3, 59.53]], [109, "lost_success", null], [111, "success", null], [132, "lost_success", null], [139, "success", null], [140, "lost_success", null], [146, "success", null], [167, "lost_success", null], [168, "success", null], [170, "lost_success", null], [171, "success", null], [172, "lost_success", null], [173, "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": 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": 61, + "task_plan_idx": 98, + "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": [[[3, 4, 5, 6, 7, 8, 9, 10, 11], "collision", [440.71, 486.33, 493.84, 503.42, 434.76, 401.38, 461.98, 459.27, 441.64]], [20, "contact", null], [20, "grasped", null], [88, "success", null], [91, "lost_success", null], [104, "success", null], [106, "lost_success", null], [107, "success", null], [162, "lost_success", null], [190, "success", null], [191, "lost_success", null], [198, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 62, + "task_plan_idx": 127, + "init_config_idx": 97, + "spawn_selection_idx": 38, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14], "collision", [47.13, 382.45]], [19, "contact", null], [20, "grasped", null], [[22], "collision", [3.41]], [50, "success", null], [60, "lost_success", null], [71, "success", null], [83, "lost_success", null], [100, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 63, + "task_plan_idx": 99, + "init_config_idx": 76, + "spawn_selection_idx": 75, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[19, "contact", null], [19, "grasped", null], [37, "success", null], [38, "lost_success", null], [40, "success", null], [[40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62], "collision", [32.4, 1.15, 1.13, 1.12, 1.65, 1.09, 1.09, 1.12, 1.18, 1.18, 1.18, 1.16, 1.18, 1.19, 1.18, 1.18, 1.17, 1.17, 1.18, 1.18, 1.18, 1.18, 1.18]], [63, "lost_success", null], [[63, 64, 65, 66, 67, 68], "collision", [1.18, 1.17, 1.17, 1.15, 1.18, 1.18]], [69, "success", null], [[69, 70, 71, 72, 73, 74, 75, 76], "collision", [1.17, 1.18, 1.18, 1.18, 1.18, 1.17, 1.18, 1.17]], [77, "lost_success", null], [[77], "collision", [1.18]], [78, "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], "collision", [1.18, 1.17, 1.18, 1.18, 1.18, 1.18, 1.18, 1.17, 1.18, 1.18, 1.18, 1.19, 1.18, 1.18, 1.18, 1.18, 1.18, 1.19, 1.17, 1.18, 1.18, 1.18, 1.18, 1.17, 1.18, 1.18, 1.17, 1.17, 1.18, 1.16, 1.17, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18]], [115, "lost_success", null], [[115], "collision", [1.17]], [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], "collision", [1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.18, 1.17, 1.16, 1.17, 1.17, 1.17, 1.16, 1.18, 1.15, 1.16, 1.18, 1.16, 1.17, 1.19, 1.18, 1.17, 1.14, 1.17]], [141, "lost_success", null], [[141], "collision", [1.18]], [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, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [1.17, 1.17, 1.18, 1.18, 1.18, 1.2, 1.18, 90.11, 56.84, 1.18, 30.74, 50.82, 1.18, 40.68, 1.19, 59.75, 65.91, 68.13, 24.38, 56.23, 38.62, 56.67, 60.3, 1.18, 57.3, 53.95, 14.59, 57.13, 59.03, 59.89, 41.25, 50.52, 62.63, 62.17, 32.67, 55.51, 66.33, 58.12, 3.1, 17.96, 59.23, 1.18, 53.32, 63.55, 17.9, 55.54, 54.67, 1.61, 53.32, 48.05, 20.6, 7.59, 59.46, 47.86, 62.49, 8.29, 54.6, 58.29]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 132, + "init_config_idx": 94, + "spawn_selection_idx": 6, + "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], [98, "lost_success", null], [109, "success", null], [124, "lost_success", null], [131, "success", null], [132, "lost_success", null], [133, "success", null], [138, "lost_success", null], [139, "success", null], [140, "lost_success", null], [142, "success", null], [156, "lost_success", null], [158, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 66, + "task_plan_idx": 116, + "init_config_idx": 10, + "spawn_selection_idx": 71, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[12, 14, 15, 16, 17], "collision", [331.13, 836.49, 242.33, 241.92, 258.22]], [20, "contact", null], [22, "lost_contact", null], [23, "contact", null], [23, "grasped", null], [49, "success", null], [55, "lost_success", null], [57, "success", null], [62, "lost_success", null], [64, "success", null], [65, "lost_success", null], [[66], "collision", [65.22]], [67, "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], "collision", [54.88, 42.4, 36.52, 41.12, 44.36, 27.16, 28.94, 32.86, 23.47, 24.07, 27.71, 45.02, 59.97, 53.83, 54.0, 54.94, 62.72, 57.99, 55.13, 49.75, 53.16, 44.38, 44.9, 43.04]], [91, "lost_success", null], [[91, 92, 94, 95, 96, 97, 98, 99, 100, 101, 102, 104, 105, 106], "collision", [35.71, 27.89, 35.78, 39.62, 36.81, 32.04, 55.81, 61.22, 41.5, 38.11, 41.87, 18.31, 13.74, 39.94]], [107, "success", null], [[107, 109, 110, 111, 112, 113], "collision", [44.87, 41.6, 59.44, 33.62, 51.77, 3.74]], [114, "lost_success", null], [118, "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, 177], "collision", [54.92, 78.35, 56.19, 70.47, 56.63, 53.08, 66.37, 47.8, 51.7, 53.38, 79.51, 54.95, 51.15, 43.36, 43.49, 36.99, 41.55, 36.84, 36.13, 15.61, 35.22, 32.45, 29.68, 20.48, 14.2]], [178, "lost_success", null], [179, "success", null], [[179, 180, 183], "collision", [17.33, 11.73, 14.58]], [187, "lost_success", null], [191, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 67, + "task_plan_idx": 35, + "init_config_idx": 45, + "spawn_selection_idx": 32, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 12, 13, 14, 15, 16], "collision", [151.3, 148.16, 180.0, 186.88, 159.31, 160.49]], [17, "contact", null], [17, "grasped", null], [[17], "collision", [218.9]], [48, "success", null], [140, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + }, + { + "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": 67, + "task_plan_idx": 65, + "init_config_idx": 35, + "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, "grasped", null], [[18, 19, 25], "collision", [1829.6, 171.6, 159.39]], [33, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 68, + "task_plan_idx": 100, + "init_config_idx": 74, + "spawn_selection_idx": 60, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 13, 14], "collision", [1336.66, 813.2, 267.87, 61.71]], [26, "contact", null], [26, "grasped", null], [[36, 37, 38, 39, 40, 41, 42], "collision", [8.71, 16.48, 12.81, 23.37, 16.51, 15.31, 17.02]], [43, "success", null], [[43, 44, 45, 46, 47], "collision", [16.45, 13.65, 16.01, 15.58, 15.13]], [48, "lost_success", null], [[48], "collision", [21.7]], [49, "success", null], [[49, 50, 51], "collision", [15.93, 15.31, 96.13]], [52, "lost_success", null], [[52], "collision", [15.53]], [53, "success", null], [[53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64], "collision", [16.06, 14.36, 16.02, 13.96, 13.33, 12.13, 13.59, 14.03, 15.18, 17.49, 15.24, 12.24]], [65, "lost_success", null], [[65], "collision", [12.67]], [66, "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, 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, 194, 195, 196, 197, 198, 199], "collision", [13.66, 11.76, 15.0, 15.01, 12.42, 11.8, 13.07, 13.48, 12.67, 13.58, 15.53, 10.67, 12.57, 13.78, 14.67, 12.88, 15.02, 15.42, 16.75, 14.92, 14.41, 17.45, 14.3, 13.14, 15.51, 16.43, 17.19, 14.24, 13.38, 15.78, 11.46, 14.78, 13.39, 14.75, 14.36, 14.72, 15.0, 15.55, 15.13, 10.61, 13.71, 13.87, 14.4, 12.14, 11.92, 9.8, 12.19, 12.2, 11.63, 14.68, 14.18, 16.31, 14.59, 11.68, 17.82, 18.43, 13.74, 12.69, 15.31, 12.13, 16.22, 14.31, 14.4, 11.6, 13.28, 10.84, 14.29, 14.65, 16.36, 12.8, 10.91, 12.88, 12.85, 12.94, 12.78, 11.89, 16.44, 10.83, 12.6, 14.62, 13.18, 13.23, 11.35, 11.35, 12.55, 11.61, 10.43, 14.07, 14.63, 15.68, 14.78, 15.21, 16.83, 16.11, 17.1, 14.19, 14.18, 13.34, 17.13, 16.39, 16.53, 16.16, 14.53, 15.63, 12.86, 12.94, 14.48, 14.07, 14.6, 14.43, 13.96, 13.82, 15.02, 15.27, 17.32, 13.9, 14.38, 14.08, 15.45, 16.07, 12.4, 13.26, 10.19, 13.29, 11.17, 12.27, 13.12, 13.65, 13.95, 13.27, 15.25, 15.2, 13.2, 16.31]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 68, + "task_plan_idx": 25, + "init_config_idx": 45, + "spawn_selection_idx": 64, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[7], "collision", [121.6]], [21, "contact", null], [21, "grasped", null], [40, "success", null], [42, "lost_success", null], [[43, 44, 45], "collision", [78.64, 72.23, 55.1]], [46, "success", null], [[46], "collision", [72.4]], [47, "lost_success", null], [[47, 48, 49, 50, 51, 52], "collision", [84.33, 81.74, 102.97, 95.22, 102.53, 108.83]], [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], "collision", [105.68, 107.66, 104.17, 107.31, 106.86, 86.16, 98.86, 91.58, 76.73, 69.12, 57.82, 67.23, 71.9, 60.27, 39.51, 56.78, 52.65, 70.94, 73.5, 48.97, 36.65, 44.27, 56.45, 41.9, 43.42, 51.12, 52.28, 31.21, 36.03, 62.26, 65.67, 11.43, 16.87, 8.81]], [106, "lost_success", null], [107, "success", null], [108, "lost_success", null], [109, "success", null], [110, "lost_success", null], [113, "success", null], [[131, 132], "collision", [64.97, 83.22]], [133, "lost_success", null], [[133, 135, 136], "collision", [21.06, 78.53, 22.99]], [139, "success", null], [[139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 169, 171, 172, 173, 174, 175, 176, 179, 180], "collision", [39.27, 22.32, 71.27, 67.23, 37.69, 51.85, 31.42, 17.72, 52.71, 54.91, 67.04, 29.85, 6.99, 3.24, 12.42, 46.82, 27.33, 18.01, 9.18, 19.13, 19.8, 12.68, 23.46, 19.44]], [187, "lost_success", null], [[190, 191], "collision", [20.99, 10.42]], [194, "success", null], [[194, 195, 196, 197, 198, 199], "collision", [25.25, 55.72, 63.27, 40.1, 33.64, 36.08]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 6, + "task_plan_idx": 70, + "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": [[12, "contact", null], [13, "grasped", null], [22, "success", null], [23, "lost_success", null], [25, "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": 6, + "task_plan_idx": 104, + "init_config_idx": 86, + "spawn_selection_idx": 54, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[14, 15, 16, 17, 18], "collision", [121.05, 583.27, 283.25, 226.61, 101.83]], [21, "contact", null], [21, "grasped", null], [42, "success", null], [55, "lost_success", null], [56, "success", null], [100, "lost_success", null], [101, "success", null], [105, "lost_success", null], [106, "success", null], [107, "lost_success", null], [118, "success", null], [145, "lost_success", null], [146, "success", null], [147, "lost_success", null], [149, "success", null], [151, "lost_success", null], [153, "success", null], [154, "lost_success", null], [157, "success", null], [158, "lost_success", null], [159, "success", null], [160, "lost_success", null], [166, "success", null], [167, "lost_success", null], [180, "success", null], [181, "lost_success", null], [182, "success", null], [183, "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": 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": 7, + "task_plan_idx": 123, + "init_config_idx": 152, + "spawn_selection_idx": 69, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[4, 5, 7, 8, 9, 10, 11, 12], "collision", [114.27, 111.87, 251.97, 245.1, 231.63, 232.01, 211.99, 140.52]], [14, "contact", null], [14, "grasped", null], [37, "success", null], [[61, 62, 63, 64, 65, 66, 67, 69, 71, 72, 73, 74, 75, 76, 77], "collision", [5.29, 11.38, 17.37, 14.14, 17.55, 1.83, 8.16, 48.39, 22.88, 15.42, 38.82, 46.44, 33.14, 19.57, 63.52]], [78, "lost_success", null], [80, "success", null], [[81, 82, 83, 84], "collision", [10.46, 26.92, 69.31, 34.98]], [85, "lost_success", null], [[85, 86], "collision", [36.55, 36.46]], [91, "success", null], [[125, 126, 127, 130, 131, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152], "collision", [23.58, 26.69, 21.16, 22.7, 7.96, 8.32, 18.51, 43.4, 7.51, 34.06, 35.63, 27.57, 29.49, 12.54, 30.31, 13.82, 31.75, 63.39, 63.33, 56.42, 31.02, 26.08]], [154, "lost_success", null], [[156], "collision", [46.26]], [157, "success", null], [[157, 158, 159, 160, 161, 169, 170, 172, 173, 174, 175, 176, 177, 178, 179, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199], "collision", [73.38, 57.74, 46.84, 37.78, 32.58, 48.84, 12.07, 17.37, 12.33, 16.76, 21.6, 43.81, 39.11, 39.81, 15.55, 29.1, 34.68, 33.84, 30.95, 37.67, 62.06, 57.92, 57.84, 45.47, 36.8, 64.16, 60.66, 66.52, 52.76, 37.44, 28.15, 37.74, 57.99, 26.37]]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 7, + "task_plan_idx": 139, + "init_config_idx": 6, + "spawn_selection_idx": 88, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[11, 16, 17, 18, 19, 20], "collision", [301.96, 166.35, 135.24, 174.11, 352.63, 197.13]], [21, "contact", null], [[21], "collision", [413.85]], [23, "grasped", null], [[28, 29, 30], "collision", [2123.31, 328.96, 221.27]], [109, "success", null], [142, "lost_success", null], [143, "success", null], [161, "lost_success", null], [162, "success", null], [163, "lost_success", null], [165, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 8, + "task_plan_idx": 95, + "init_config_idx": 39, + "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], [34, "success", null], [35, "lost_success", null], [40, "success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": true, + "fail": false + }, + { + "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": 8, + "task_plan_idx": 151, + "init_config_idx": 65, + "spawn_selection_idx": 17, + "control_mode": "pd_joint_delta_pos", + "elapsed_steps": 200, + "label": "straightforward_success", + "events": ["contact", "grasped", "success"], + "events_verbose": [[[9, 13, 14, 15, 16, 17, 18, 19, 20], "collision", [922.42, 159.45, 160.27, 146.95, 139.22, 568.65, 185.18, 301.61, 108.13]], [21, "contact", null], [21, "grasped", null], [[21], "collision", [132.71]], [126, "success", null], [127, "lost_success", null]], + "articulation_type": "fridge", + "reset_kwargs": {}, + "success_once": true, + "success_at_end": false, + "fail": true + } + ], + "source_type": "RL", + "source_desc": "RL policy trained exclusively to pick 013_apple in the set_table task." +} \ No newline at end of file