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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0000.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0000.json
new file mode 100644
index 0000000000000000000000000000000000000000..95b3272f0afe7d9701517136d1a1bda4c98c93b2
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0000.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0001.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0001.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..00f699dc253d94c0ca78c01958b90cca11f74b51
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0001.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0001.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0001.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0cb77705c1a3f2fa51629ef3df7ba159d6e862
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0001.json
@@ -0,0 +1 @@
+{"frame_index": 1, "time_norm": 0.003105590062111801, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2450489103794098, "right_arm_pose_y": -0.2416027933359146, "right_arm_pose_z": 1.4701937437057495, "right_arm_pose_qx": -0.9928768873214722, "right_arm_pose_qy": -0.0010301655856892467, "right_arm_pose_qz": 0.11913847178220749, "right_arm_pose_qw": 0.0007269290508702397, "left_arm_pose_x": 0.3024243116378784, "left_arm_pose_y": 0.06816744804382324, "left_arm_pose_z": 1.469923973083496, "left_arm_pose_qx": -0.043155841529369354, "left_arm_pose_qy": 0.9918972849845886, "left_arm_pose_qz": 0.005413878243416548, "left_arm_pose_qw": 0.11936568468809128, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.48648798496615747, "pregrasp_position_error": 0.48648798496615747, "pregrasp_orientation_error_deg": 85.21590023966304, "p_pre": 0.0, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 191.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0002.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0002.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0f9bc166b90dcf54809d84acafb3299328b394
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0002.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0002.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0002.json
new file mode 100644
index 0000000000000000000000000000000000000000..a02231d60165c1e5143eb5082fcd272306c30940
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0002.json
@@ -0,0 +1 @@
+{"frame_index": 2, "time_norm": 0.006211180124223602, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24452173709869385, "right_arm_pose_y": -0.2406769096851349, "right_arm_pose_z": 1.4682538509368896, "right_arm_pose_qx": -0.9931561946868896, "right_arm_pose_qy": -0.004422029480338097, "right_arm_pose_qz": 0.11666788160800934, "right_arm_pose_qw": 0.003122742287814617, "left_arm_pose_x": 0.30227646231651306, "left_arm_pose_y": 0.06820452958345413, "left_arm_pose_z": 1.469395637512207, "left_arm_pose_qx": -0.04262044280767441, "left_arm_pose_qy": 0.9919182658195496, "left_arm_pose_qz": 0.006142839789390564, "left_arm_pose_qw": 0.11934816092252731, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.48600083622323287, "pregrasp_position_error": 0.48600083622323287, "pregrasp_orientation_error_deg": 85.11557815109491, "p_pre": 0.0, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 192.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0014.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0014.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6bc089aa7b9866fbf277d78c76451065d2139c3
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0014.debug.json
@@ -0,0 +1 @@
+{"frame_index": 14, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.2860375940799713, 0.07088342308998108, 1.4341198205947876, -0.0038899050559848547, 0.9909313321113586, 0.057693250477313995, 0.12129074335098267], "right_arm_pose": [0.2316029965877533, -0.1947290450334549, 1.3757561445236206, -0.9766288995742798, -0.18869063258171082, -0.030346998944878578, 0.0983414575457573], "left_arm_joint_positions": [-0.022424932569265366, -0.050139397382736206, -0.013637509196996689, -1.3047363758087158, 0.10397756844758987, 1.4374909400939941, 0.8560947179794312], "right_arm_joint_positions": [-0.012615200132131577, 0.21824148297309875, 0.026078496128320694, -1.0507361888885498, -0.2286895513534546, 1.1834368705749512, 0.32917511463165283], "pregrasp_goal_pose": [0.29603230826638716, 0.2975003455585192, 1.040931883326132, 0.23515577576567506, 0.7243530719884037, 0.6151623887159693, 0.20393534204317987], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0014.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0014.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c781c468af2af8ec9cc8b5305d8e7531473728a
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0014.json
@@ -0,0 +1 @@
+{"frame_index": 14, "time_norm": 0.043478260869565216, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2316029965877533, "right_arm_pose_y": -0.1947290450334549, "right_arm_pose_z": 1.3757561445236206, "right_arm_pose_qx": -0.9766288995742798, "right_arm_pose_qy": -0.18869063258171082, "right_arm_pose_qz": -0.030346998944878578, "right_arm_pose_qw": 0.0983414575457573, "left_arm_pose_x": 0.2860375940799713, "left_arm_pose_y": 0.07088342308998108, "left_arm_pose_z": 1.4341198205947876, "left_arm_pose_qx": -0.0038899050559848547, "left_arm_pose_qy": 0.9909313321113586, "left_arm_pose_qz": 0.057693250477313995, "left_arm_pose_qw": 0.12129074335098267, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.453929375425693, "pregrasp_position_error": 0.453929375425693, "pregrasp_orientation_error_deg": 78.00916773944893, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 9.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 233.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0015.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0015.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..030850ade7093c491bee52221a64f8a01c1ca905
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0015.debug.json
@@ -0,0 +1 @@
+{"frame_index": 15, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.28399989008903503, 0.07121510803699493, 1.4297208786010742, 0.000978658557869494, 0.9905153512954712, 0.06415724009275436, 0.12150008231401443], "right_arm_pose": [0.23150473833084106, -0.19050376117229462, 1.3676828145980835, -0.9717549085617065, -0.20658579468727112, -0.0460660345852375, 0.10436825454235077], "left_arm_joint_positions": [-0.02408885583281517, -0.07000300288200378, -0.01572343334555626, -1.3435590267181396, 0.11590207368135452, 1.4577393531799316, 0.8630293607711792], "right_arm_joint_positions": [-0.013765569776296616, 0.22221186757087708, 0.028466973453760147, -1.0672647953033447, -0.24966371059417725, 1.1798889636993408, 0.28721725940704346], "pregrasp_goal_pose": [0.2960316337979635, 0.2975001962343758, 1.040932000174162, 0.2351560398508376, 0.7243517671463844, 0.6151640112819675, 0.20393477775274405], "pregrasp_position_error": 0.45000721770392765, "pregrasp_orientation_error_deg": 77.11978818790838}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 178, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 19, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 234, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 273, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 134, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2960316337979635, 0.2975001962343758, 1.040932000174162, 0.2351560398508376, 0.7243517671463844, 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"post_assist_strict_length": Infinity, "door_open_delta": -0.020904064178466797, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.1469111025637628, "step_quality_min": -0.8790530739670667, "step_quality_max": 0.9222845490915114, "alignment_signed_mean": -0.46104838714242635, "alignment_abs_mean": 0.7923474307664617, "alignment_min": -0.9801495518231774, "alignment_max": 0.95953305631464, "door_contact_steps": 22, "path_steps": 78}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.3160316337979635, 0.2975001962343758, 1.040932000174162, 0.2351560398508376, 0.7243517671463844, 0.6151640112819675, 0.20393477775274405], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 3.4885333455075433, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.03320050239562988, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.11001303860774055, "step_quality_min": -0.5891707643098459, "step_quality_max": 0.4776512995385626, "alignment_signed_mean": -0.5080065953809488, "alignment_abs_mean": 0.809700283258349, "alignment_min": -0.9623130680829027, "alignment_max": 0.9623130680829027, "door_contact_steps": 20, "path_steps": 75}, {"path_found": true, "path_length": 3.488805124506681, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0347900390625, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual"], "bad_collision_names": [], "step_quality_mean": -0.1697482532190699, "step_quality_min": -0.542080957006374, "step_quality_max": 0.22042805794192405, "alignment_signed_mean": -0.5940038276818547, "alignment_abs_mean": 0.8412107331833226, "alignment_min": -0.967289393152519, "alignment_max": 0.967289393152519, "door_contact_steps": 20, "path_steps": 75}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474822521209717, "final_height": 1.0474822521209717, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474822521209717}], "score": 0.0007351239522298171}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0015.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0015.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cc99db3df35e63b53be0319aaac012eb49f7ccb
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0015.json
@@ -0,0 +1 @@
+{"frame_index": 15, "time_norm": 0.046583850931677016, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23150473833084106, "right_arm_pose_y": -0.19050376117229462, "right_arm_pose_z": 1.3676828145980835, "right_arm_pose_qx": -0.9717549085617065, "right_arm_pose_qy": -0.20658579468727112, "right_arm_pose_qz": -0.0460660345852375, "right_arm_pose_qw": 0.10436825454235077, "left_arm_pose_x": 0.28399989008903503, "left_arm_pose_y": 0.07121510803699493, "left_arm_pose_z": 1.4297208786010742, "left_arm_pose_qx": 0.000978658557869494, "left_arm_pose_qy": 0.9905153512954712, "left_arm_pose_qz": 0.06415724009275436, "left_arm_pose_qw": 0.12150008231401443, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.45000721770392765, "pregrasp_position_error": 0.45000721770392765, "pregrasp_orientation_error_deg": 77.11978818790838, "p_pre": 0.0, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 19.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 234.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0016.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0016.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..30aaa057aaaf2d20bfa23201bb62bcc288dadefb
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0016.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0016.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0016.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed6339665eec1fcca6100e9d6b3c57ff2f67b580
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0016.json
@@ -0,0 +1 @@
+{"frame_index": 16, "time_norm": 0.049689440993788817, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23156461119651794, "right_arm_pose_y": -0.18629859387874603, "right_arm_pose_z": 1.359809160232544, "right_arm_pose_qx": -0.9662907123565674, "right_arm_pose_qy": -0.22445565462112427, "right_arm_pose_qz": -0.06195266544818878, "right_arm_pose_qw": 0.10983464121818542, "left_arm_pose_x": 0.2818576693534851, "left_arm_pose_y": 0.07157772779464722, "left_arm_pose_z": 1.4252210855484009, "left_arm_pose_qx": 0.006001686677336693, "left_arm_pose_qy": 0.9900064468383789, "left_arm_pose_qz": 0.07084320485591888, "left_arm_pose_qw": 0.1217888742685318, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4460043118987054, "pregrasp_position_error": 0.4460043118987054, "pregrasp_orientation_error_deg": 76.19933670227468, "p_pre": 0.0, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 30.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 243.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0017.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0017.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..13ccd53a04401ab915799c36c8c3a85c48196581
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0017.debug.json
@@ -0,0 +1 @@
+{"frame_index": 17, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.27967074513435364, 0.07194002717733383, 1.420470118522644, 0.011223975569009781, 0.9894222617149353, 0.07773617655038834, 0.1219620481133461], "right_arm_pose": [0.23174503445625305, -0.18212564289569855, 1.3519855737686157, -0.9602319002151489, -0.24227796494960785, -0.0780906155705452, 0.1147083193063736], "left_arm_joint_positions": [-0.027193542569875717, -0.10956975817680359, -0.02011510357260704, -1.420496940612793, 0.1407092809677124, 1.498593807220459, 0.876766562461853], "right_arm_joint_positions": [-0.0160672627389431, 0.22980812191963196, 0.033201489597558975, -1.0992872714996338, -0.2915452718734741, 1.1727540493011475, 0.20331013202667236], "pregrasp_goal_pose": [0.29603259897612977, 0.2975005775308452, 1.0409304414329952, 0.23515461198947768, 0.7243483612638301, 0.6151679157165848, 0.20393674378933027], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0017.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0017.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e884d9ad7e1076f2b7f22229f4614284dd0487
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0017.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0028.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0028.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb833b3d7b02ac7cd688ed1ba5e598a2aa8b5f95
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0028.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0028.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0028.json
new file mode 100644
index 0000000000000000000000000000000000000000..81cee2f7bab67547fe03566299a46b4ad70e5658
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0028.json
@@ -0,0 +1 @@
+{"frame_index": 28, "time_norm": 0.08695652173913043, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24200741946697235, "right_arm_pose_y": -0.13864383101463318, "right_arm_pose_z": 1.2762517929077148, "right_arm_pose_qx": -0.8543904423713684, "right_arm_pose_qy": -0.4292095899581909, "right_arm_pose_qz": -0.2625044286251068, "right_arm_pose_qw": 0.12995222210884094, "left_arm_pose_x": 0.25160497426986694, "left_arm_pose_y": 0.07677357643842697, "left_arm_pose_z": 1.3593636751174927, "left_arm_pose_qx": 0.07835780829191208, "left_arm_pose_qy": 0.9751079678535461, "left_arm_pose_qz": 0.16639916598796844, "left_arm_pose_qw": 0.12383799254894257, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3899932713797725, "pregrasp_position_error": 0.3899932713797725, "pregrasp_orientation_error_deg": 63.06038649646617, "p_pre": 0.0, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0029.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0029.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..40550b83843b2af3b35bac06f5dba1fbf1815491
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0029.debug.json
@@ -0,0 +1 @@
+{"frame_index": 29, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.24868479371070862, 0.07724326848983765, 1.3530967235565186, 0.08520295470952988, 0.9729447960853577, 0.17537619173526764, 0.12394390255212784], "right_arm_pose": [0.24350447952747345, -0.13496644794940948, 1.2702476978302002, -0.8412833213806152, -0.44482481479644775, -0.27937594056129456, 0.12775950133800507], "left_arm_joint_positions": [-0.040408845990896225, -0.3360845744609833, -0.05048772320151329, -1.875690221786499, 0.3165491819381714, 1.7520978450775146, 0.9445101022720337], "right_arm_joint_positions": [-0.029900547116994858, 0.275791198015213, 0.06176546588540077, -1.2934074401855469, -0.5430728197097778, 1.1302330493927002, -0.3001950979232788], "pregrasp_goal_pose": [0.2960318376605651, 0.29750165577432275, 1.0409312121338872, 0.23515485142333717, 0.7243514138662309, 0.6151644177357395, 0.20393617686401166], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0029.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0029.json
new file mode 100644
index 0000000000000000000000000000000000000000..05e223f306ae35b43a16dac2674cc359020b3e7c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0029.json
@@ -0,0 +1 @@
+{"frame_index": 29, "time_norm": 0.09006211180124224, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24350447952747345, "right_arm_pose_y": -0.13496644794940948, "right_arm_pose_z": 1.2702476978302002, "right_arm_pose_qx": -0.8412833213806152, "right_arm_pose_qy": -0.44482481479644775, "right_arm_pose_qz": -0.27937594056129456, "right_arm_pose_qw": 0.12775950133800507, "left_arm_pose_x": 0.24868479371070862, "left_arm_pose_y": 0.07724326848983765, "left_arm_pose_z": 1.3530967235565186, "left_arm_pose_qx": 0.08520295470952988, "left_arm_pose_qy": 0.9729447960853577, "left_arm_pose_qz": 0.17537619173526764, "left_arm_pose_qw": 0.12394390255212784, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.38497117588425356, "pregrasp_position_error": 0.38497117588425356, "pregrasp_orientation_error_deg": 61.82526565224396, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0030.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0030.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea4acba9b2663ac7ed66a2bbc1962ad9c3cc7d5f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0030.debug.json
@@ -0,0 +1 @@
+{"frame_index": 30, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.2457694113254547, 0.07775308191776276, 1.346698522567749, 0.09216092526912689, 0.9706143736839294, 0.18448328971862793, 0.12401632964611053], "right_arm_pose": [0.24495947360992432, -0.1313362419605255, 1.264356017112732, -0.8276331424713135, -0.4600924849510193, -0.2961691915988922, 0.1249883770942688], "left_arm_joint_positions": [-0.04105162248015404, -0.35418960452079773, -0.05324026569724083, -1.91302490234375, 0.33345234394073486, 1.7736916542053223, 0.9483088254928589], "right_arm_joint_positions": [-0.031051155179739, 0.27982476353645325, 0.06415107846260071, -1.3094282150268555, -0.5640145540237427, 1.1267609596252441, -0.34213054180145264], "pregrasp_goal_pose": [0.2960312086384248, 0.29750198422097884, 1.0409295343375427, 0.23515221030087521, 0.7243490026547457, 0.6151669813277499, 0.2039400535152238], "pregrasp_position_error": 0.37988222187399423, "pregrasp_orientation_error_deg": 60.57279394337717}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 178, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, 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1.0474824905395508, "final_height": 1.0474824905395508, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474824905395508}], "score": 0.0007359186808268223}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0030.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0030.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea290a2e3e65bc53ca8e82f0d5603b712f11cb6
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0030.json
@@ -0,0 +1 @@
+{"frame_index": 30, "time_norm": 0.09316770186335403, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24495947360992432, "right_arm_pose_y": -0.1313362419605255, "right_arm_pose_z": 1.264356017112732, "right_arm_pose_qx": -0.8276331424713135, "right_arm_pose_qy": -0.4600924849510193, "right_arm_pose_qz": -0.2961691915988922, "right_arm_pose_qw": 0.1249883770942688, "left_arm_pose_x": 0.2457694113254547, "left_arm_pose_y": 0.07775308191776276, "left_arm_pose_z": 1.346698522567749, "left_arm_pose_qx": 0.09216092526912689, "left_arm_pose_qy": 0.9706143736839294, "left_arm_pose_qz": 0.18448328971862793, "left_arm_pose_qw": 0.12401632964611053, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.37988222187399423, "pregrasp_position_error": 0.37988222187399423, "pregrasp_orientation_error_deg": 60.57279394337717, "p_pre": 0.0, "p_ext": 0.0007359186808268223, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474824905395508, "p_ext_final_height": 1.0474824905395508, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0031.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0031.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f7e9ed08b70d6832e2149987e3304df4573c0ff
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0031.debug.json
@@ -0,0 +1 @@
+{"frame_index": 31, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.2427818775177002, 0.07825058698654175, 1.3402560949325562, 0.09920511394739151, 0.9681005477905273, 0.19371795654296875, 0.12414920330047607], "right_arm_pose": [0.24657569825649261, -0.12775346636772156, 1.2586948871612549, -0.8134646415710449, -0.4749857485294342, -0.3128301203250885, 0.12166039645671844], "left_arm_joint_positions": [-0.04159998521208763, -0.37218210101127625, -0.05600115284323692, -1.9501657485961914, 0.3507736921310425, 1.7954823970794678, 0.9517015218734741], "right_arm_joint_positions": [-0.032212015241384506, 0.28360942006111145, 0.06649592518806458, -1.3256421089172363, -0.5850037336349487, 1.1232173442840576, -0.38409101963043213], "pregrasp_goal_pose": [0.29603034235276104, 0.2975019981154624, 1.0409303245686583, 0.2351543858537899, 0.7243489491195753, 0.6151673106175156, 0.203936741836058], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0031.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0031.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b52eed7b31491cb22bd2cbed828a2526877b1ba
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0031.json
@@ -0,0 +1 @@
+{"frame_index": 31, "time_norm": 0.09627329192546584, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24657569825649261, "right_arm_pose_y": -0.12775346636772156, "right_arm_pose_z": 1.2586948871612549, "right_arm_pose_qx": -0.8134646415710449, "right_arm_pose_qy": -0.4749857485294342, "right_arm_pose_qz": -0.3128301203250885, "right_arm_pose_qw": 0.12166039645671844, "left_arm_pose_x": 0.2427818775177002, "left_arm_pose_y": 0.07825058698654175, "left_arm_pose_z": 1.3402560949325562, "left_arm_pose_qx": 0.09920511394739151, "left_arm_pose_qy": 0.9681005477905273, "left_arm_pose_qz": 0.19371795654296875, "left_arm_pose_qw": 0.12414920330047607, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.37483662720344524, "pregrasp_position_error": 0.37483662720344524, "pregrasp_orientation_error_deg": 59.301130611506956, "p_pre": 0.0, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0042.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0042.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..6896fa54eb2d5f17d6fca8a9b87035f8bc2178bb
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0042.debug.json
@@ -0,0 +1 @@
+{"frame_index": 42, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.20745673775672913, 0.08445160835981369, 1.2636748552322388, 0.18115301430225372, 0.9281575679779053, 0.30067914724349976, 0.12368981540203094], "right_arm_pose": [0.26551705598831177, -0.09242995083332062, 1.2055938243865967, 0.625491201877594, 0.6104206442832947, 0.4834917485713959, -0.048816997557878494], "left_arm_joint_positions": [-0.037055011838674545, -0.558685302734375, -0.09040281176567078, -2.3494153022766113, 0.5724793672561646, 2.0334739685058594, 0.9566413164138794], "right_arm_joint_positions": [-0.04487228021025658, 0.3256669342517853, 0.09266403317451477, -1.50345778465271, -0.815557599067688, 1.084160566329956, -0.8457208871841431], "pregrasp_goal_pose": [0.2960295929695608, 0.2975033504569061, 1.0409303338386269, 0.23515476393477378, 0.7243484884991205, 0.615167854646042, 0.20393630088340495], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0042.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0042.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01347a637aeb707f653e4ea5ca18fef6bce2796
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0042.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0043.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0043.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..341d807121a6498526132925547d80c40f3508cb
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0043.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0043.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0043.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d245304adb9f5f99f6e31617a89a61c46d0f44c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0043.json
@@ -0,0 +1 @@
+{"frame_index": 43, "time_norm": 0.13354037267080746, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2672116756439209, "right_arm_pose_y": -0.0896085724234581, "right_arm_pose_z": 1.2015749216079712, "right_arm_pose_qx": 0.6058910489082336, "right_arm_pose_qy": 0.6196573376655579, "right_arm_pose_qz": 0.4973776340484619, "right_arm_pose_qw": -0.03919563814997673, "left_arm_pose_x": 0.20409390330314636, "left_arm_pose_y": 0.08503716439008713, "left_arm_pose_z": 1.2562973499298096, "left_arm_pose_qx": 0.18883755803108215, "left_arm_pose_qy": 0.9233594536781311, "left_arm_pose_qz": 0.31064286828041077, "left_arm_pose_qw": 0.12348547577857971, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.31618987610411753, "pregrasp_position_error": 0.31618987610411753, "pregrasp_orientation_error_deg": 43.27895524044582, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0044.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0044.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..89ce0f41caf47b9cd9d3a68342e5ec76a5e24781
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0044.debug.json
@@ -0,0 +1 @@
+{"frame_index": 44, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.20068934559822083, 0.08564526587724686, 1.2488914728164673, 0.19651742279529572, 0.9183709025382996, 0.32059526443481445, 0.12326621264219284], "right_arm_pose": [0.2689008414745331, -0.08689386397600174, 1.1976525783538818, 0.5859414935112, 0.6283465623855591, 0.5108882784843445, -0.02909208834171295], "left_arm_joint_positions": [-0.03305148705840111, -0.5896339416503906, -0.0980059802532196, -2.4191675186157227, 0.619886040687561, 2.0760200023651123, 0.9497298002243042], "right_arm_joint_positions": [-0.0471496544778347, 0.33377721905708313, 0.09739139676094055, -1.5358943939208984, -0.8575354814529419, 1.0770328044891357, -0.929613471031189], "pregrasp_goal_pose": [0.29602866390341126, 0.29750331800733837, 1.0409305100974304, 0.23515432091886113, 0.7243493086297556, 0.6151668565964428, 0.2039369093274587], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0044.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0044.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae8fa36b788657585581dbeceb8595365d3a4cd2
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0044.json
@@ -0,0 +1 @@
+{"frame_index": 44, "time_norm": 0.13664596273291926, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2689008414745331, "right_arm_pose_y": -0.08689386397600174, "right_arm_pose_z": 1.1976525783538818, "right_arm_pose_qx": 0.5859414935112, "right_arm_pose_qy": 0.6283465623855591, "right_arm_pose_qz": 0.5108882784843445, "right_arm_pose_qw": -0.02909208834171295, "left_arm_pose_x": 0.20068934559822083, "left_arm_pose_y": 0.08564526587724686, "left_arm_pose_z": 1.2488914728164673, "left_arm_pose_qx": 0.19651742279529572, "left_arm_pose_qy": 0.9183709025382996, "left_arm_pose_qz": 0.32059526443481445, "left_arm_pose_qw": 0.12326621264219284, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3118031139714349, "pregrasp_position_error": 0.3118031139714349, "pregrasp_orientation_error_deg": 41.93251410127676, "p_pre": 0.0, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0045.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0045.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d3137593f6c27e23dae4e83e476d1a65bf1f96e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0045.debug.json
@@ -0,0 +1 @@
+{"frame_index": 45, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.19724619388580322, 0.0862375944852829, 1.2416093349456787, 0.20416979491710663, 0.9131596088409424, 0.3305847644805908, 0.12315811216831207], "right_arm_pose": [0.2705442011356354, -0.0842592790722847, 1.193877935409546, 0.5656734108924866, 0.6364511251449585, 0.5240216851234436, -0.018569445237517357], "left_arm_joint_positions": [-0.03055381402373314, -0.604999303817749, -0.10203954577445984, -2.453167676925659, 0.6445420980453491, 2.0970799922943115, 0.9451793432235718], "right_arm_joint_positions": [-0.04834150895476341, 0.33770206570625305, 0.0997476875782013, -1.551891803741455, -0.8784817457199097, 1.073441743850708, -0.9716290235519409], "pregrasp_goal_pose": [0.2960307429412881, 0.297503189292961, 1.04093159110507, 0.23515530383425903, 0.7243522632249684, 0.6151633356387628, 0.2039359024921168], "pregrasp_position_error": 0.3076736835585625, "pregrasp_orientation_error_deg": 40.58285421138142}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 178, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 273, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 134, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2960307429412881, 0.297503189292961, 1.04093159110507, 0.23515530383425903, 0.7243522632249684, 0.6151633356387628, 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"already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474822521209717}], "score": 0.0007351239522298171}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0045.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0045.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a5d23b0621004edd7f6f094443823136451a537
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0045.json
@@ -0,0 +1 @@
+{"frame_index": 45, "time_norm": 0.13975155279503104, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2705442011356354, "right_arm_pose_y": -0.0842592790722847, "right_arm_pose_z": 1.193877935409546, "right_arm_pose_qx": 0.5656734108924866, "right_arm_pose_qy": 0.6364511251449585, "right_arm_pose_qz": 0.5240216851234436, "right_arm_pose_qw": -0.018569445237517357, "left_arm_pose_x": 0.19724619388580322, "left_arm_pose_y": 0.0862375944852829, "left_arm_pose_z": 1.2416093349456787, "left_arm_pose_qx": 0.20416979491710663, "left_arm_pose_qy": 0.9131596088409424, "left_arm_pose_qz": 0.3305847644805908, "left_arm_pose_qw": 0.12315811216831207, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3076736835585625, "pregrasp_position_error": 0.3076736835585625, "pregrasp_orientation_error_deg": 40.58285421138142, "p_pre": 0.0, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0056.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0056.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c958d3ca8a1daf3824a93e4c39bf6c006fca59f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0056.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0056.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0056.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ee6a617edf2b6c1e6a7b7cc7e97744cba34782
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0056.json
@@ -0,0 +1 @@
+{"frame_index": 56, "time_norm": 0.17391304347826086, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.28365299105644226, "right_arm_pose_y": -0.06403053551912308, "right_arm_pose_z": 1.163560390472412, "right_arm_pose_qx": 0.36944490671157837, "right_arm_pose_qy": 0.6816003322601318, "right_arm_pose_qz": 0.6244013905525208, "right_arm_pose_qw": 0.095154769718647, "left_arm_pose_x": 0.172291100025177, "left_arm_pose_y": 0.09097351133823395, "left_arm_pose_z": 1.187190294265747, "left_arm_pose_qx": 0.2601076364517212, "left_arm_pose_qy": 0.8693745732307434, "left_arm_pose_qz": 0.4025760591030121, "left_arm_pose_qw": 0.12026825547218323, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2817051511779881, "pregrasp_position_error": 0.2817051511779881, "pregrasp_orientation_error_deg": 31.237107286332613, "p_pre": 0.0, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0057.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0057.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f75948dfb88ed522f017afff83e3ac06033a780
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0057.debug.json
@@ -0,0 +1 @@
+{"frame_index": 57, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.17197343707084656, 0.09100709110498428, 1.1867587566375732, 0.2607477307319641, 0.8686670064926147, 0.40361180901527405, 0.1205236166715622], "right_arm_pose": [0.2848968505859375, -0.0626046285033226, 1.1607446670532227, 0.3564356863498688, 0.6801321506500244, 0.6324710845947266, 0.10175605118274689], "left_arm_joint_positions": [0.0001962222158908844, -0.7050652503967285, -0.13795778155326843, -2.6901631355285645, 0.8480473756790161, 2.2453746795654297, 0.8876844644546509], "right_arm_joint_positions": [-0.05987786874175072, 0.3758542835712433, 0.12351301312446594, -1.7137322425842285, -1.085279107093811, 1.0386059284210205, -1.3744663000106812], "pregrasp_goal_pose": [0.2960277501241571, 0.2975043362444687, 1.040929816917005, 0.23515206080245898, 0.7243498551156548, 0.6151661979066921, 0.2039395612609552], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0057.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0057.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c855c443f27751192f03f5855751de6703cb301
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0057.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0058.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0058.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e71babbfaefe6425703e4e0f99a27bcd170bc6c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0058.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0058.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0058.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e9069dbea481db47a723f10a06a7a538b81a16a
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0058.json
@@ -0,0 +1 @@
+{"frame_index": 58, "time_norm": 0.18012422360248448, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.28595203161239624, "right_arm_pose_y": -0.06075894087553024, "right_arm_pose_z": 1.158144474029541, "right_arm_pose_qx": 0.3291819989681244, "right_arm_pose_qy": 0.6830188035964966, "right_arm_pose_qz": 0.640918493270874, "right_arm_pose_qw": 0.11978362500667572, "left_arm_pose_x": 0.1718205213546753, "left_arm_pose_y": 0.0910358652472496, "left_arm_pose_z": 1.1865586042404175, "left_arm_pose_qx": 0.2610224187374115, "left_arm_pose_qy": 0.868370532989502, "left_arm_pose_qz": 0.4040513038635254, "left_arm_pose_qw": 0.12059223651885986, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28153824986773673, "pregrasp_position_error": 0.28153824986773673, "pregrasp_orientation_error_deg": 31.040024780590198, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0059.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0059.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..49bf44a9b1fcce90c45fdb9422c4c848d27a2734
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0059.debug.json
@@ -0,0 +1 @@
+{"frame_index": 59, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.1717924028635025, 0.09106750786304474, 1.186394214630127, 0.2611522674560547, 0.868277907371521, 0.404180109500885, 0.12054678052663803], "right_arm_pose": [0.28702622652053833, -0.05909883975982666, 1.155496597290039, 0.3052831292152405, 0.6838192939758301, 0.6487446427345276, 0.13536573946475983], "left_arm_joint_positions": [0.00046682730317115784, -0.7057604789733887, -0.13822028040885925, -2.6917781829833984, 0.8496333360671997, 2.246347427368164, 0.8871480226516724], "right_arm_joint_positions": [-0.06215476617217064, 0.3835032284259796, 0.12832167744636536, -1.7458539009094238, -1.1298292875289917, 1.0308291912078857, -1.4742501974105835], "pregrasp_goal_pose": [0.2960277406911067, 0.2975047207659075, 1.0409314896556419, 0.23515525727618122, 0.7243510656847294, 0.6151647987513348, 0.20393579625460476], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0059.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0059.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fcff9bb51c54becf76cd676f644c7a4c13ad7ac
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0059.json
@@ -0,0 +1 @@
+{"frame_index": 59, "time_norm": 0.18322981366459629, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.28702622652053833, "right_arm_pose_y": -0.05909883975982666, "right_arm_pose_z": 1.155496597290039, "right_arm_pose_qx": 0.3052831292152405, "right_arm_pose_qy": 0.6838192939758301, "right_arm_pose_qz": 0.6487446427345276, "right_arm_pose_qw": 0.13536573946475983, "left_arm_pose_x": 0.1717924028635025, "left_arm_pose_y": 0.09106750786304474, "left_arm_pose_z": 1.186394214630127, "left_arm_pose_qx": 0.2611522674560547, "left_arm_pose_qy": 0.868277907371521, "left_arm_pose_qz": 0.404180109500885, "left_arm_pose_qw": 0.12054678052663803, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28144297183131706, "pregrasp_position_error": 0.28144297183131706, "pregrasp_orientation_error_deg": 31.025706705439575, "p_pre": 0.0, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0070.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0070.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..39b449878b4218bf30662007cb297fe3152e5232
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0070.debug.json
@@ -0,0 +1 @@
+{"frame_index": 70, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.17167171835899353, 0.0910942405462265, 1.1859915256500244, 0.26132461428642273, 0.8682817220687866, 0.404160737991333, 0.12020999193191528], "right_arm_pose": [0.2927159368991852, -0.05011994391679764, 1.143944501876831, 0.20353668928146362, 0.6773852109909058, 0.6770251989364624, 0.20336928963661194], "left_arm_joint_positions": [0.000507596880197525, -0.7056219577789307, -0.13826414942741394, -2.6924471855163574, 0.8498107194900513, 2.2464120388031006, 0.8870850801467896], "right_arm_joint_positions": [-0.07145977020263672, 0.394361287355423, 0.1368444263935089, -1.8257806301116943, -1.223331093788147, 1.0213432312011719, -1.6621850728988647], "pregrasp_goal_pose": [0.29602668495955764, 0.2975061418046808, 1.0409309397330269, 0.23515183755886926, 0.7243541136451107, 0.6151611358855227, 0.20393996232746212], "pregrasp_position_error": 0.28126962915668646, "pregrasp_orientation_error_deg": 31.04134176695587}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 178, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, 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"already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481894493103}], "score": 0.0007339318593343093}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0070.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0070.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e2de76dc0b2721218e7e98334d67c0816be9096
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0070.json
@@ -0,0 +1 @@
+{"frame_index": 70, "time_norm": 0.21739130434782608, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2927159368991852, "right_arm_pose_y": -0.05011994391679764, "right_arm_pose_z": 1.143944501876831, "right_arm_pose_qx": 0.20353668928146362, "right_arm_pose_qy": 0.6773852109909058, "right_arm_pose_qz": 0.6770251989364624, "right_arm_pose_qw": 0.20336928963661194, "left_arm_pose_x": 0.17167171835899353, "left_arm_pose_y": 0.0910942405462265, "left_arm_pose_z": 1.1859915256500244, "left_arm_pose_qx": 0.26132461428642273, "left_arm_pose_qy": 0.8682817220687866, "left_arm_pose_qz": 0.404160737991333, "left_arm_pose_qw": 0.12020999193191528, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28126962915668646, "pregrasp_position_error": 0.28126962915668646, "pregrasp_orientation_error_deg": 31.04134176695587, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0071.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0071.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..763b9df990198ade69729e4ab835750cb4281a58
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0071.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0071.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0071.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f10dc1b1cc7e47e31f79ce8760f3d8f96546d9
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0071.json
@@ -0,0 +1 @@
+{"frame_index": 71, "time_norm": 0.2204968944099379, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2955678403377533, "right_arm_pose_y": -0.04579062759876251, "right_arm_pose_z": 1.1440527439117432, "right_arm_pose_qx": 0.20357108116149902, "right_arm_pose_qy": 0.6773878931999207, "right_arm_pose_qz": 0.6770215630531311, "right_arm_pose_qw": 0.20333801209926605, "left_arm_pose_x": 0.17168793082237244, "left_arm_pose_y": 0.09109073132276535, "left_arm_pose_z": 1.1860404014587402, "left_arm_pose_qx": 0.2613087594509125, "left_arm_pose_qy": 0.8682827949523926, "left_arm_pose_qz": 0.4041654169559479, "left_arm_pose_qw": 0.12022130191326141, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28128926459405146, "pregrasp_position_error": 0.28128926459405146, "pregrasp_orientation_error_deg": 31.04023660066041, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0072.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0072.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..819b80650e83d18c9233a338df79192adbe3f98c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0072.debug.json
@@ -0,0 +1 @@
+{"frame_index": 72, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.17169712483882904, 0.09109286218881607, 1.1860593557357788, 0.26131048798561096, 0.8682801127433777, 0.4041646122932434, 0.12023898959159851], "right_arm_pose": [0.29991188645362854, -0.03919079899787903, 1.1440703868865967, 0.20357745885849, 0.6773576736450195, 0.6770339608192444, 0.20339113473892212], "left_arm_joint_positions": [0.000499967485666275, -0.7055892944335938, -0.13826677203178406, -2.692237377166748, 0.8497906923294067, 2.2464194297790527, 0.887104868888855], "right_arm_joint_positions": [-0.0868675708770752, 0.37131384015083313, 0.13001945614814758, -1.8595244884490967, -1.228556752204895, 1.04367995262146, -1.6589375734329224], "pregrasp_goal_pose": [0.2960260808702805, 0.29750621982112474, 1.0409305577257926, 0.23515356922985758, 0.7243500404856883, 0.6151659911112509, 0.2039377873444559], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0072.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0072.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9bd9b2c9e9c93586d56813146a8b44fc5f9c292
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0072.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0073.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0073.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..840994f3be290e3c014472616ccde9577bbdf0ae
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0073.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0073.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0073.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd6811c7f11db992db163eb4f5f2048ab46d9be3
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0073.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0084.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0084.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d62f5ce54228620e6903d3a4576c9a9891c4ef
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0084.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0084.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0084.json
new file mode 100644
index 0000000000000000000000000000000000000000..aadb413e6fe2c4d3abd2d4409ad2172909543a02
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0084.json
@@ -0,0 +1 @@
+{"frame_index": 84, "time_norm": 0.2608695652173913, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.3998293876647949, "right_arm_pose_y": 0.11259103566408157, "right_arm_pose_z": 1.1445693969726562, "right_arm_pose_qx": 0.20308907330036163, "right_arm_pose_qy": 0.6774062514305115, "right_arm_pose_qz": 0.677040696144104, "right_arm_pose_qw": 0.20369477570056915, "left_arm_pose_x": 0.17168836295604706, "left_arm_pose_y": 0.09109850972890854, "left_arm_pose_z": 1.1859681606292725, "left_arm_pose_qx": 0.2613295912742615, "left_arm_pose_qy": 0.8683005571365356, "left_arm_pose_qz": 0.40413621068000793, "left_arm_pose_qw": 0.12014558911323547, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2812479309673177, "pregrasp_position_error": 0.2812479309673177, "pregrasp_orientation_error_deg": 31.04799877111192, "p_pre": 0.0, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 190.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0085.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0085.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a77f11d73d24bab89ed03309f516681d47f2aae
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0085.debug.json
@@ -0,0 +1 @@
+{"frame_index": 85, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.1717188060283661, 0.09108296036720276, 1.1860008239746094, 0.2613348960876465, 0.868297815322876, 0.4041314423084259, 0.12016957253217697], "right_arm_pose": [0.40924736857414246, 0.1268608272075653, 1.1446303129196167, 0.20303259789943695, 0.677401065826416, 0.6770508289337158, 0.20373453199863434], "left_arm_joint_positions": [0.0005064047873020172, -0.7053356170654297, -0.13826391100883484, -2.6922383308410645, 0.849784255027771, 2.2463932037353516, 0.8871022462844849], "right_arm_joint_positions": [-0.3064687252044678, 0.13253405690193176, -0.025238484144210815, -2.1976168155670166, -1.4060322046279907, 1.3797659873962402, -1.6512089967727661], "pregrasp_goal_pose": [0.29602809324532947, 0.2975074614558414, 1.04093129023255, 0.2351531503053291, 0.7243535337817604, 0.61516188311792, 0.20393825427852008], "pregrasp_position_error": 0.2812632986335426, "pregrasp_orientation_error_deg": 31.046573413212055}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 178, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 190, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, 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"already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474822521209717}], "score": 0.0007351239522298171}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0085.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0085.json
new file mode 100644
index 0000000000000000000000000000000000000000..44677c149bef0c45d699e04ef98dae8667a72e8c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0085.json
@@ -0,0 +1 @@
+{"frame_index": 85, "time_norm": 0.2639751552795031, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.40924736857414246, "right_arm_pose_y": 0.1268608272075653, "right_arm_pose_z": 1.1446303129196167, "right_arm_pose_qx": 0.20303259789943695, "right_arm_pose_qy": 0.677401065826416, "right_arm_pose_qz": 0.6770508289337158, "right_arm_pose_qw": 0.20373453199863434, "left_arm_pose_x": 0.1717188060283661, "left_arm_pose_y": 0.09108296036720276, "left_arm_pose_z": 1.1860008239746094, "left_arm_pose_qx": 0.2613348960876465, "left_arm_pose_qy": 0.868297815322876, "left_arm_pose_qz": 0.4041314423084259, "left_arm_pose_qw": 0.12016957253217697, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2812632986335426, "pregrasp_position_error": 0.2812632986335426, "pregrasp_orientation_error_deg": 31.046573413212055, "p_pre": 0.0, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 190.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0086.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0086.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f92261a1669fec6cf36bbd9e088ba01733a73771
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0086.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0086.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0086.json
new file mode 100644
index 0000000000000000000000000000000000000000..34ca0ccb97d610e491802219c331bcfec4f8dcad
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0086.json
@@ -0,0 +1 @@
+{"frame_index": 86, "time_norm": 0.2670807453416149, "door_angle": 1.570797324180603, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.41763487458229065, "right_arm_pose_y": 0.13940563797950745, "right_arm_pose_z": 1.1446716785430908, "right_arm_pose_qx": 0.20299425721168518, "right_arm_pose_qy": 0.6773425936698914, "right_arm_pose_qz": 0.6770884990692139, "right_arm_pose_qw": 0.203841894865036, "left_arm_pose_x": 0.17171043157577515, "left_arm_pose_y": 0.09109507501125336, "left_arm_pose_z": 1.185971975326538, "left_arm_pose_qx": 0.26135167479515076, "left_arm_pose_qy": 0.8682920336723328, "left_arm_pose_qz": 0.40413275361061096, "left_arm_pose_qw": 0.12017092108726501, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2812422688951188, "pregrasp_position_error": 0.2812422688951188, "pregrasp_orientation_error_deg": 31.046600550461825, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 173.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0087.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0087.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4b53c526ddcdabeb50946549ec10053710832fd
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0087.debug.json
@@ -0,0 +1 @@
+{"frame_index": 87, "state": {"door_angle": 1.570797324180603, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.17171016335487366, 0.09109219908714294, 1.1860589981079102, 0.2613239288330078, 0.8682822585105896, 0.40415605902671814, 0.12022290378808975], "right_arm_pose": [0.4244028627872467, 0.14943259954452515, 1.1447588205337524, 0.20302310585975647, 0.6772964000701904, 0.6770914196968079, 0.20395703613758087], "left_arm_joint_positions": [0.0005030669271945953, -0.7054424285888672, -0.1382739245891571, -2.692115306854248, 0.8498028516769409, 2.2464301586151123, 0.8871346712112427], "right_arm_joint_positions": [-0.3367805480957031, 0.11588266491889954, -0.05171963572502136, -2.220186233520508, -1.4403365850448608, 1.4248838424682617, -1.6521488428115845], "pregrasp_goal_pose": [0.29602771527761085, 0.29750741640724854, 1.0409331120806007, 0.235160105586752, 0.7243511416764574, 0.6151647759346818, 0.2039300045154544], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0087.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0087.json
new file mode 100644
index 0000000000000000000000000000000000000000..1adb1d887305781c4e8a6f69abbf2955c5bef869
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0087.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0098.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0098.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..19dcbd7c8981bf3d6316222a7e3f536795a2b9e5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0098.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0098.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0098.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f191cbcfa22caae2cb9846c9b14d61919294f65
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0098.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0099.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0099.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0c6896320db0d4b543e3e2ad9e693db41277e7a
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0099.debug.json
@@ -0,0 +1 @@
+{"frame_index": 99, "state": {"door_angle": 1.5374191999435425, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.1719648689031601, 0.09136776626110077, 1.1867495775222778, 0.2609451711177826, 0.8681852221488953, 0.4045073091983795, 0.12056520581245422], "right_arm_pose": [0.42873838543891907, 0.1559804528951645, 1.1445653438568115, 0.18945518136024475, 0.631075918674469, 0.7205532193183899, 0.2159932255744934], "left_arm_joint_positions": [0.001075509935617447, -0.7052578926086426, -0.13812872767448425, -2.6909360885620117, 0.8503295183181763, 2.246310234069824, 0.8871515989303589], "right_arm_joint_positions": [-0.33146238327026367, 0.16503599286079407, -0.06260058283805847, -2.235747814178467, -1.5307821035385132, 1.3478336334228516, -1.6051524877548218], "pregrasp_goal_pose": [0.2960265065527006, 0.2975102346892857, 1.0409307438021282, 0.23515322253341597, 0.7243510908177437, 0.6151647854406579, 0.2039380933446325], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0099.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0099.json
new file mode 100644
index 0000000000000000000000000000000000000000..46670889b0854d6ad92dbe502aa4f6651b3e526e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0099.json
@@ -0,0 +1 @@
+{"frame_index": 99, "time_norm": 0.30745341614906835, "door_angle": 1.5374191999435425, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.42873838543891907, "right_arm_pose_y": 0.1559804528951645, "right_arm_pose_z": 1.1445653438568115, "right_arm_pose_qx": 0.18945518136024475, "right_arm_pose_qy": 0.631075918674469, "right_arm_pose_qz": 0.7205532193183899, "right_arm_pose_qw": 0.2159932255744934, "left_arm_pose_x": 0.1719648689031601, "left_arm_pose_y": 0.09136776626110077, "left_arm_pose_z": 1.1867495775222778, "left_arm_pose_qx": 0.2609451711177826, "left_arm_pose_qy": 0.8681852221488953, "left_arm_pose_qz": 0.4045073091983795, "left_arm_pose_qw": 0.12056520581245422, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813345686073003, "pregrasp_position_error": 0.2813345686073003, "pregrasp_orientation_error_deg": 30.987561452095466, "p_pre": 0.0, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 121.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0100.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0100.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b4615ecf19ee9eaa05c3cca2a969a8582f550d0
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0100.debug.json
@@ -0,0 +1 @@
+{"frame_index": 100, "state": {"door_angle": 1.526734471321106, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.1719457507133484, 0.09136200696229935, 1.1867254972457886, 0.26093900203704834, 0.8681947588920593, 0.40449976921081543, 0.12053535133600235], "right_arm_pose": [0.42740315198898315, 0.15357252955436707, 1.1444885730743408, 0.18480120599269867, 0.6146756410598755, 0.7345470786094666, 0.22014330327510834], "left_arm_joint_positions": [0.0010800398886203766, -0.7053337097167969, -0.13813921809196472, -2.690863609313965, 0.8503142595291138, 2.2463161945343018, 0.8871423006057739], "right_arm_joint_positions": [-0.3241410255432129, 0.18487480282783508, -0.06253811717033386, -2.2365341186523438, -1.5526169538497925, 1.3121678829193115, -1.591471791267395], "pregrasp_goal_pose": [0.29602112244856793, 0.29751210431812225, 1.040929574166615, 0.2351533708423787, 0.7243477204136631, 0.615168715931911, 0.20393803728505447], "pregrasp_position_error": 0.2813343414827925, "pregrasp_orientation_error_deg": 30.990389986331373}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 178, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 114, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, 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0.0, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": -0.12332809563460667, "step_quality_min": -0.8754524034924476, "step_quality_max": 0.31352727486034737, "alignment_signed_mean": -0.815125287117961, "alignment_abs_mean": 0.815125287117961, "alignment_min": -0.9893833937128671, "alignment_max": -0.42926225305638394, "door_contact_steps": 50, "path_steps": 50}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.31602112244856795, 0.29751210431812225, 1.040929574166615, 0.2351533708423787, 0.7243477204136631, 0.615168715931911, 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"num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481894493103}], "score": 0.0007339318593343093}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0100.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0100.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b04e0e3b5ce1d074bc16f6c76c430509d67369a
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0100.json
@@ -0,0 +1 @@
+{"frame_index": 100, "time_norm": 0.3105590062111801, "door_angle": 1.526734471321106, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.42740315198898315, "right_arm_pose_y": 0.15357252955436707, "right_arm_pose_z": 1.1444885730743408, "right_arm_pose_qx": 0.18480120599269867, "right_arm_pose_qy": 0.6146756410598755, "right_arm_pose_qz": 0.7345470786094666, "right_arm_pose_qw": 0.22014330327510834, "left_arm_pose_x": 0.1719457507133484, "left_arm_pose_y": 0.09136200696229935, "left_arm_pose_z": 1.1867254972457886, "left_arm_pose_qx": 0.26093900203704834, "left_arm_pose_qy": 0.8681947588920593, "left_arm_pose_qz": 0.40449976921081543, "left_arm_pose_qw": 0.12053535133600235, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813343414827925, "pregrasp_position_error": 0.2813343414827925, "pregrasp_orientation_error_deg": 30.990389986331373, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 114.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0112.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0112.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffc4658859ccd5a08a3bd07df14a1ec2879f464e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0112.debug.json
@@ -0,0 +1 @@
+{"frame_index": 112, "state": {"door_angle": 1.1108092069625854, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.17196759581565857, 0.0913606509566307, 1.1867432594299316, 0.2609449326992035, 0.8681895732879639, 0.4045001268386841, 0.12055891752243042], "right_arm_pose": [0.36504167318344116, 0.058154210448265076, 1.1014773845672607, 0.14136746525764465, 0.45935744047164917, 0.8401884436607361, 0.25117626786231995], "left_arm_joint_positions": [0.0010650195181369781, -0.7054011821746826, -0.13812634348869324, -2.6909093856811523, 0.8503314256668091, 2.2463130950927734, 0.8871392011642456], "right_arm_joint_positions": [-0.1596827507019043, 0.5209951400756836, -0.01640579104423523, -2.1069281101226807, -1.5831385850906372, 0.8856439590454102, -1.4900799989700317], "pregrasp_goal_pose": [0.29602053254207694, 0.29751215438431194, 1.0409299426412288, 0.2351547974456205, 0.7243471364504687, 0.6151694125598651, 0.20393636508741136], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0112.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0112.json
new file mode 100644
index 0000000000000000000000000000000000000000..aea90b8a2831c362f14ae2c789d2d673a4973cf8
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0112.json
@@ -0,0 +1 @@
+{"frame_index": 112, "time_norm": 0.34782608695652173, "door_angle": 1.1108092069625854, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.36504167318344116, "right_arm_pose_y": 0.058154210448265076, "right_arm_pose_z": 1.1014773845672607, "right_arm_pose_qx": 0.14136746525764465, "right_arm_pose_qy": 0.45935744047164917, "right_arm_pose_qz": 0.8401884436607361, "right_arm_pose_qw": 0.25117626786231995, "left_arm_pose_x": 0.17196759581565857, "left_arm_pose_y": 0.0913606509566307, "left_arm_pose_z": 1.1867432594299316, "left_arm_pose_qx": 0.2609449326992035, "left_arm_pose_qy": 0.8681895732879639, "left_arm_pose_qz": 0.4045001268386841, "left_arm_pose_qw": 0.12055891752243042, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28133449278192785, "pregrasp_position_error": 0.28133449278192785, "pregrasp_orientation_error_deg": 30.989283283603537, "p_pre": 0.0, "p_ext": 0.0007355213165283197, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474823713302612, "p_ext_final_height": 1.0474823713302612, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.6354166666666666, "full_view_visibility": 0.2098765432098766, "full_view_whole_tray_visibility": 0.6952736318407959, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.6354166666666666, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 183.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0113.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0113.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad8c3a61dfed0af01fcfa51c47701c2744b6f69f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0113.debug.json
@@ -0,0 +1 @@
+{"frame_index": 113, "state": {"door_angle": 1.0714517831802368, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.17193973064422607, 0.09135562926530838, 1.1867351531982422, 0.26093971729278564, 0.8681918382644653, 0.40449923276901245, 0.12055666744709015], "right_arm_pose": [0.35959097743034363, 0.05011241137981415, 1.0951838493347168, 0.13738733530044556, 0.4488939344882965, 0.845903754234314, 0.25311240553855896], "left_arm_joint_positions": [0.0010750330984592438, -0.7054355144500732, -0.13811752200126648, -2.690891742706299, 0.8503342866897583, 2.246305465698242, 0.8871423006057739], "right_arm_joint_positions": [-0.14582300186157227, 0.5534677505493164, -0.015493839979171753, -2.088700532913208, -1.5810867547988892, 0.8591911792755127, -1.4873517751693726], "pregrasp_goal_pose": [0.29601499834432166, 0.2975143262342585, 1.0409323002690616, 0.23515791093284694, 0.7243504948014429, 0.615165432727696, 0.20393285165355463], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0113.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0113.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c94717ac4a3208d8b42533dba221f4c78f2860
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0113.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0114.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0114.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6ceb239818120d984b1b32e91dc6a70583c5bdf
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0114.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0114.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0114.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cc594e8586533090d2e5e1612daa6265c7ef6f5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0114.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0126.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0126.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b12e450817da6d3e194aa9c34df7b1abb243e33
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0126.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0126.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0126.json
new file mode 100644
index 0000000000000000000000000000000000000000..fff4147b47f7ccabe16ff8ab94d2f47e6c052577
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0126.json
@@ -0,0 +1 @@
+{"frame_index": 126, "time_norm": 0.391304347826087, "door_angle": 0.7260085344314575, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.32009100914001465, "right_arm_pose_y": -0.01045025885105133, "right_arm_pose_z": 1.023560643196106, "right_arm_pose_qx": 0.09629197418689728, "right_arm_pose_qy": 0.31246572732925415, "right_arm_pose_qz": 0.905560314655304, "right_arm_pose_qw": 0.270284503698349, "left_arm_pose_x": 0.1719047725200653, "left_arm_pose_y": 0.09140011668205261, "left_arm_pose_z": 1.1864086389541626, "left_arm_pose_qx": 0.26104316115379333, "left_arm_pose_qy": 0.8682471513748169, "left_arm_pose_qz": 0.40441107749938965, "left_arm_pose_qw": 0.12022916972637177, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2811590319396184, "pregrasp_position_error": 0.2811590319396184, "pregrasp_orientation_error_deg": 31.01286265696894, "p_pre": 0.3396554504456665, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.3396554504456665, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.209977723076567, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.09147179126739502, "p_pre_door_quality": 0.7095216034587, "p_pre_step_quality_mean": 0.5850308620838571, "p_pre_step_quality_min": 0.530339897171264, "p_pre_step_quality_max": 0.8815410863350948, "p_pre_alignment_signed_mean": -0.13069157672501241, "p_pre_alignment_abs_mean": 0.18603884656195313, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 2.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.3160187830106476, "p_pre_best_target_pose_y": 0.29751354264670926, "p_pre_best_target_pose_z": 1.0409322859675725, "p_pre_best_target_pose_qx": 0.23515746076874847, "p_pre_best_target_pose_qy": 0.7243517749067573, "p_pre_best_target_pose_qz": 0.615163981444789, "p_pre_best_target_pose_qw": 0.20393320172845886, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6555555555555556, "three_view_whole_tray_visibility": 0.7708333333333334, "full_view_visibility": 0.7278463648834019, "full_view_whole_tray_visibility": 0.8084577114427861, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6555555555555556, "wrist_left_tray_visibility": 0.7708333333333334, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 59.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 222.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0127.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0127.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e5617ed2c8b79f475f1b610213b9bbc99dc78c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0127.debug.json
@@ -0,0 +1 @@
+{"frame_index": 127, "state": {"door_angle": 0.7216333150863647, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.1718425154685974, 0.09144262969493866, 1.1856969594955444, 0.26131245493888855, 0.8683574199676514, 0.40420129895210266, 0.11955226957798004], "right_arm_pose": [0.321144700050354, -0.009114131331443787, 1.0210167169570923, 0.0951104685664177, 0.31258225440979004, 0.9052760004997253, 0.2715175747871399], "left_arm_joint_positions": [0.001072172075510025, -0.7041740417480469, -0.1381506621837616, -2.691971778869629, 0.850293755531311, 2.246129035949707, 0.8872157335281372], "right_arm_joint_positions": [-0.0390317440032959, 0.9120228290557861, -0.05404588580131531, -1.8844232559204102, -1.621395230293274, 0.608039379119873, -1.484969973564148], "pregrasp_goal_pose": [0.2960099987274254, 0.29751785912557716, 1.0409314981914963, 0.23515563774728163, 0.724351424465977, 0.615164379931621, 0.20393534655160545], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0127.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0127.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e471bfb51c32ecfc45fd82f8748aa2634957128
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0127.json
@@ -0,0 +1 @@
+{"frame_index": 127, "time_norm": 0.3944099378881988, "door_angle": 0.7216333150863647, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.321144700050354, "right_arm_pose_y": -0.009114131331443787, "right_arm_pose_z": 1.0210167169570923, "right_arm_pose_qx": 0.0951104685664177, "right_arm_pose_qy": 0.31258225440979004, "right_arm_pose_qz": 0.9052760004997253, "right_arm_pose_qw": 0.2715175747871399, "left_arm_pose_x": 0.1718425154685974, "left_arm_pose_y": 0.09144262969493866, "left_arm_pose_z": 1.1856969594955444, "left_arm_pose_qx": 0.26131245493888855, "left_arm_pose_qy": 0.8683574199676514, "left_arm_pose_qz": 0.40420129895210266, "left_arm_pose_qw": 0.11955226957798004, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2807874692187945, "pregrasp_position_error": 0.2807874692187945, "pregrasp_orientation_error_deg": 31.06612247229116, "p_pre": 0.3185179597574526, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.3185179597574526, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.231082463679267, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.09745192527770996, "p_pre_door_quality": 0.6700638901708955, "p_pre_step_quality_mean": 0.5286627002441366, "p_pre_step_quality_min": -0.4291872030536509, "p_pre_step_quality_max": 0.9072454327788635, "p_pre_alignment_signed_mean": 0.09516564968751895, "p_pre_alignment_abs_mean": 0.24697183253798854, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2760099987274254, "p_pre_best_target_pose_y": 0.29751785912557716, "p_pre_best_target_pose_z": 1.0409314981914963, "p_pre_best_target_pose_qx": 0.23515563774728163, "p_pre_best_target_pose_qy": 0.724351424465977, "p_pre_best_target_pose_qz": 0.615164379931621, "p_pre_best_target_pose_qw": 0.20393534655160545, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6777777777777778, "three_view_whole_tray_visibility": 0.7534722222222222, "full_view_visibility": 0.7454046639231825, "full_view_whole_tray_visibility": 0.7939469320066335, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6777777777777778, "wrist_left_tray_visibility": 0.7534722222222222, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 217.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0140.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0140.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..66f85eef7791bde74c388a4e002f78d3eb7dff54
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0140.debug.json
@@ -0,0 +1 @@
+{"frame_index": 140, "state": {"door_angle": 0.7228018045425415, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.1718677282333374, 0.0914093405008316, 1.1861695051193237, 0.2611303925514221, 0.8682907819747925, 0.4043292999267578, 0.1200002059340477], "right_arm_pose": [0.30107253789901733, -0.030333898961544037, 1.008466124534607, 0.023228103294968605, 0.45715853571891785, 0.8305054306983948, 0.3173756003379822], "left_arm_joint_positions": [0.001070026308298111, -0.7048733234405518, -0.13813897967338562, -2.691588878631592, 0.8502906560897827, 2.2461771965026855, 0.8871721029281616], "right_arm_joint_positions": [-0.0833587646484375, 0.8001649379730225, 0.11099985241889954, -1.9301559925079346, -1.5835908651351929, 0.7757761478424072, -1.7075825929641724], "pregrasp_goal_pose": [0.2960159255253592, 0.2975165002990418, 1.040932000056634, 0.23515773207578128, 0.7243505140414406, 0.615165408813618, 0.20393306169439543], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0140.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0140.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b64d2eb4a512aac25ad37f67f9e5d02655ccbc4
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0140.json
@@ -0,0 +1 @@
+{"frame_index": 140, "time_norm": 0.43478260869565216, "door_angle": 0.7228018045425415, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.30107253789901733, "right_arm_pose_y": -0.030333898961544037, "right_arm_pose_z": 1.008466124534607, "right_arm_pose_qx": 0.023228103294968605, "right_arm_pose_qy": 0.45715853571891785, "right_arm_pose_qz": 0.8305054306983948, "right_arm_pose_qw": 0.3173756003379822, "left_arm_pose_x": 0.1718677282333374, "left_arm_pose_y": 0.0914093405008316, "left_arm_pose_z": 1.1861695051193237, "left_arm_pose_qx": 0.2611303925514221, "left_arm_pose_qy": 0.8682907819747925, "left_arm_pose_qz": 0.4043292999267578, "left_arm_pose_qw": 0.1200002059340477, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2810460266358138, "pregrasp_position_error": 0.2810460266358138, "pregrasp_orientation_error_deg": 31.032329620703308, "p_pre": 0.6688675202057834, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.3377350404115667, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.231594567005607, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.14538884162902832, "p_pre_door_quality": 0.7106119607650568, "p_pre_step_quality_mean": 0.5865885153786528, "p_pre_step_quality_min": 0.08805209997862001, "p_pre_step_quality_max": 0.9068655515609958, "p_pre_alignment_signed_mean": 0.0790428178078633, "p_pre_alignment_abs_mean": 0.15137201904003908, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2760159255253592, "p_pre_best_target_pose_y": 0.2975165002990418, "p_pre_best_target_pose_z": 1.040932000056634, "p_pre_best_target_pose_qx": 0.23515773207578128, "p_pre_best_target_pose_qy": 0.7243505140414406, "p_pre_best_target_pose_qz": 0.615165408813618, "p_pre_best_target_pose_qw": 0.20393306169439543, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6666666666666666, "three_view_whole_tray_visibility": 0.7708333333333334, "full_view_visibility": 0.7366255144032922, "full_view_whole_tray_visibility": 0.8084577114427861, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6666666666666666, "wrist_left_tray_visibility": 0.7708333333333334, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 60.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 222.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0141.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0141.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3387e689d4e11bdfd033af09dd0170a0379dfd
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0141.debug.json
@@ -0,0 +1 @@
+{"frame_index": 141, "state": {"door_angle": 0.7219141721725464, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.17185869812965393, 0.09141214191913605, 1.1861871480941772, 0.2611294388771057, 0.8682806491851807, 0.40433844923973083, 0.12004458904266357], "right_arm_pose": [0.2977792024612427, -0.03521810472011566, 1.0076069831848145, 0.010449500754475594, 0.47504541277885437, 0.8191164135932922, 0.32135826349258423], "left_arm_joint_positions": [0.0010604895651340485, -0.7048509120941162, -0.1381380259990692, -2.691500186920166, 0.8502935171127319, 2.246208667755127, 0.8871902227401733], "right_arm_joint_positions": [-0.08963871002197266, 0.7838189601898193, 0.13493183255195618, -1.9368560314178467, -1.5782753229141235, 0.7982532978057861, -1.7398580312728882], "pregrasp_goal_pose": [0.29602184710463864, 0.2975158596686878, 1.0409320360294396, 0.23515573964329056, 0.7243531528751725, 0.6151623496404549, 0.20393521426533662], 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false}, "candidate_score": 0.32989676303861715, "source": "assisted"}]}, "p_ext": {"initial_height": 1.047481894493103, "final_height": 1.047481894493103, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481894493103}], "score": 0.0007339318593343093}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0141.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0141.json
new file mode 100644
index 0000000000000000000000000000000000000000..65736f525ffc6dd15c33ce109b995aa200d2b890
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0141.json
@@ -0,0 +1 @@
+{"frame_index": 141, "time_norm": 0.43788819875776397, "door_angle": 0.7219141721725464, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2977792024612427, "right_arm_pose_y": -0.03521810472011566, "right_arm_pose_z": 1.0076069831848145, "right_arm_pose_qx": 0.010449500754475594, "right_arm_pose_qy": 0.47504541277885437, "right_arm_pose_qz": 0.8191164135932922, "right_arm_pose_qw": 0.32135826349258423, "left_arm_pose_x": 0.17185869812965393, "left_arm_pose_y": 0.09141214191913605, "left_arm_pose_z": 1.1861871480941772, "left_arm_pose_qx": 0.2611294388771057, "left_arm_pose_qy": 0.8682806491851807, "left_arm_pose_qz": 0.40433844923973083, "left_arm_pose_qw": 0.12004458904266357, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28105920659980277, "pregrasp_position_error": 0.28105920659980277, "pregrasp_orientation_error_deg": 31.028933340156012, "p_pre": 0.3382501569086006, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.3382501569086006, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.2195918255461233, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.11776697635650635, "p_pre_door_quality": 0.7088541267789995, "p_pre_step_quality_mean": 0.5840773239699993, "p_pre_step_quality_min": 0.4941559315941008, "p_pre_step_quality_max": 0.8910597821799041, "p_pre_alignment_signed_mean": 0.14003659636958743, "p_pre_alignment_abs_mean": 0.14003659636958743, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.29602184710463864, "p_pre_best_target_pose_y": 0.2975158596686878, "p_pre_best_target_pose_z": 1.0409320360294396, "p_pre_best_target_pose_qx": 0.23515573964329056, "p_pre_best_target_pose_qy": 0.7243531528751725, "p_pre_best_target_pose_qz": 0.6151623496404549, "p_pre_best_target_pose_qw": 0.20393521426533662, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6666666666666666, "three_view_whole_tray_visibility": 0.7708333333333334, "full_view_visibility": 0.7366255144032922, "full_view_whole_tray_visibility": 0.8084577114427861, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6666666666666666, "wrist_left_tray_visibility": 0.7708333333333334, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 60.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 222.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0142.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0142.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b848cab3527f9e2076d43ec48216f2e381b9a87b
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0142.debug.json
@@ -0,0 +1 @@
+{"frame_index": 142, "state": {"door_angle": 0.7234424352645874, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.17188391089439392, 0.09139925241470337, 1.1862214803695679, 0.26111680269241333, 0.868274450302124, 0.4043543338775635, 0.12006377428770065], "right_arm_pose": [0.29440033435821533, -0.04043404757976532, 1.0069040060043335, -0.002946592168882489, 0.49212780594825745, 0.8076908588409424, 0.32471081614494324], "left_arm_joint_positions": [0.0010647810995578766, -0.7048768997192383, -0.13813993334770203, -2.691450595855713, 0.8503092527389526, 2.2462351322174072, 0.8871833086013794], "right_arm_joint_positions": [-0.0959329605102539, 0.7674343585968018, 0.15878227353096008, -1.943551778793335, -1.572989821434021, 0.8205804824829102, -1.7721315622329712], "pregrasp_goal_pose": [0.2960309420800512, 0.2975111193264212, 1.0409301598926421, 0.23515405789218444, 0.7243480269595872, 0.6151683607387757, 0.20393722770146722], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0142.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0142.json
new file mode 100644
index 0000000000000000000000000000000000000000..e796a9a6d5e58fe9ea27d8de60e0c0e972a0ab25
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0142.json
@@ -0,0 +1 @@
+{"frame_index": 142, "time_norm": 0.4409937888198758, "door_angle": 0.7234424352645874, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.29440033435821533, "right_arm_pose_y": -0.04043404757976532, "right_arm_pose_z": 1.0069040060043335, "right_arm_pose_qx": -0.002946592168882489, "right_arm_pose_qy": 0.49212780594825745, "right_arm_pose_qz": 0.8076908588409424, "right_arm_pose_qw": 0.32471081614494324, "left_arm_pose_x": 0.17188391089439392, "left_arm_pose_y": 0.09139925241470337, "left_arm_pose_z": 1.1862214803695679, "left_arm_pose_qx": 0.26111680269241333, "left_arm_pose_qy": 0.868274450302124, "left_arm_pose_qz": 0.4043543338775635, "left_arm_pose_qw": 0.12006377428770065, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2810767774825501, "pregrasp_position_error": 0.2810767774825501, "pregrasp_orientation_error_deg": 31.027235748856153, "p_pre": 0.3309541468255446, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.3309541468255446, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.231633471678766, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.12890565395355225, "p_pre_door_quality": 0.6963538064021415, "p_pre_step_quality_mean": 0.5662197234316309, "p_pre_step_quality_min": -0.25000144072608577, "p_pre_step_quality_max": 0.950550186837602, "p_pre_alignment_signed_mean": 0.08224887098420755, "p_pre_alignment_abs_mean": 0.17792810513187146, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2760309420800512, "p_pre_best_target_pose_y": 0.2975111193264212, "p_pre_best_target_pose_z": 1.0409301598926421, "p_pre_best_target_pose_qx": 0.23515405789218444, "p_pre_best_target_pose_qy": 0.7243480269595872, "p_pre_best_target_pose_qz": 0.6151683607387757, "p_pre_best_target_pose_qw": 0.20393722770146722, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6666666666666666, "three_view_whole_tray_visibility": 0.7708333333333334, "full_view_visibility": 0.7366255144032922, "full_view_whole_tray_visibility": 0.8084577114427861, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6666666666666666, "wrist_left_tray_visibility": 0.7708333333333334, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 60.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 222.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0154.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0154.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5404f88ff2eb4a0c61875345181567e5c688f4f9
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0154.debug.json
@@ -0,0 +1 @@
+{"frame_index": 154, "state": {"door_angle": 0.7228018045425415, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.17187060415744781, 0.0913984626531601, 1.1862658262252808, 0.26110097765922546, 0.868263304233551, 0.40437451004981995, 0.12011075764894485], "right_arm_pose": [0.2528787851333618, -0.13040660321712494, 1.016160488128662, -0.20225854218006134, 0.6324254274368286, 0.6777858734130859, 0.31580987572669983], "left_arm_joint_positions": [0.0010767020285129547, -0.7049710750579834, -0.13813063502311707, -2.6913323402404785, 0.8503271341323853, 2.24623703956604, 0.8871718645095825], "right_arm_joint_positions": [-0.17119240760803223, 0.5702807903289795, 0.4456937611103058, -2.0234291553497314, -1.5093663930892944, 1.0900938510894775, -2.1593713760375977], "pregrasp_goal_pose": [0.29601445503761525, 0.29751794322482544, 1.040930028237879, 0.23515498915413383, 0.7243475499810219, 0.6151689591234983, 0.2039360430216343], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0154.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0154.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b47dcfce0fad4b2b6ca1533650e6e6c8334c6a2
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0154.json
@@ -0,0 +1 @@
+{"frame_index": 154, "time_norm": 0.4782608695652174, "door_angle": 0.7228018045425415, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2528787851333618, "right_arm_pose_y": -0.13040660321712494, "right_arm_pose_z": 1.016160488128662, "right_arm_pose_qx": -0.20225854218006134, "right_arm_pose_qy": 0.6324254274368286, "right_arm_pose_qz": 0.6777858734130859, "right_arm_pose_qw": 0.31580987572669983, "left_arm_pose_x": 0.17187060415744781, "left_arm_pose_y": 0.0913984626531601, "left_arm_pose_z": 1.1862658262252808, "left_arm_pose_qx": 0.26110097765922546, "left_arm_pose_qy": 0.868263304233551, "left_arm_pose_qz": 0.40437451004981995, "left_arm_pose_qw": 0.12011075764894485, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2811039490279801, "pregrasp_position_error": 0.2811039490279801, "pregrasp_orientation_error_deg": 31.022892862748925, "p_pre": 0.5077724484384539, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.3426363109516579, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.231599948591164, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.13596630096435547, "p_pre_door_quality": 0.7209257373075039, "p_pre_step_quality_mean": 0.6013224818678627, "p_pre_step_quality_min": 0.29181506561741216, "p_pre_step_quality_max": 0.9088375761850414, "p_pre_alignment_signed_mean": 0.09571273432306014, "p_pre_alignment_abs_mean": 0.1223058785636667, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.27601445503761524, "p_pre_best_target_pose_y": 0.29751794322482544, "p_pre_best_target_pose_z": 1.040930028237879, "p_pre_best_target_pose_qx": 0.23515498915413383, "p_pre_best_target_pose_qy": 0.7243475499810219, "p_pre_best_target_pose_qz": 0.6151689591234983, "p_pre_best_target_pose_qw": 0.2039360430216343, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6555555555555556, "three_view_whole_tray_visibility": 0.7638888888888888, "full_view_visibility": 0.7278463648834019, "full_view_whole_tray_visibility": 0.8026533996683249, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6555555555555556, "wrist_left_tray_visibility": 0.7638888888888888, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 59.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 220.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0155.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0155.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d677acbd00ba1df80aa265fa236997e582a1c114
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0155.debug.json
@@ -0,0 +1 @@
+{"frame_index": 155, "state": {"door_angle": 0.7230573892593384, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.17188486456871033, 0.09140411019325256, 1.1863282918930054, 0.2610836327075958, 0.8682594895362854, 0.40438762307167053, 0.12013109028339386], "right_arm_pose": [0.2498629093170166, -0.13991843163967133, 1.0184892416000366, -0.2211427241563797, 0.6380582451820374, 0.6684141755104065, 0.3117694556713104], "left_arm_joint_positions": [0.0010619200766086578, -0.7050025463104248, -0.13813969492912292, -2.691359519958496, 0.8502973318099976, 2.246189832687378, 0.8871742486953735], "right_arm_joint_positions": [-0.1775503158569336, 0.5540776252746582, 0.4695723354816437, -2.029934883117676, -1.5041204690933228, 1.1123790740966797, -2.1916098594665527], "pregrasp_goal_pose": [0.29602956174645634, 0.2975116730645128, 1.040931109124104, 0.23515477710115681, 0.7243520246909616, 0.6151636683268841, 0.20393635355968606], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0155.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0155.json
new file mode 100644
index 0000000000000000000000000000000000000000..79abc174ecf992167da023dd7a4d1eb4716c30eb
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0155.json
@@ -0,0 +1 @@
+{"frame_index": 155, "time_norm": 0.4813664596273292, "door_angle": 0.7230573892593384, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2498629093170166, "right_arm_pose_y": -0.13991843163967133, "right_arm_pose_z": 1.0184892416000366, "right_arm_pose_qx": -0.2211427241563797, "right_arm_pose_qy": 0.6380582451820374, "right_arm_pose_qz": 0.6684141755104065, "right_arm_pose_qw": 0.3117694556713104, "left_arm_pose_x": 0.17188486456871033, "left_arm_pose_y": 0.09140411019325256, "left_arm_pose_z": 1.1863282918930054, "left_arm_pose_qx": 0.2610836327075958, "left_arm_pose_qy": 0.8682594895362854, "left_arm_pose_qz": 0.40438762307167053, "left_arm_pose_qw": 0.12013109028339386, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28112732714415734, "pregrasp_position_error": 0.28112732714415734, "pregrasp_orientation_error_deg": 31.01981133279849, "p_pre": 0.4933478917216414, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.3281790265807074, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.2317015663933253, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.13871169090270996, "p_pre_door_quality": 0.6905301090047413, "p_pre_step_quality_mean": 0.5579001557210592, "p_pre_step_quality_min": -0.44607735091671435, "p_pre_step_quality_max": 0.9709379688340938, "p_pre_alignment_signed_mean": 0.09063867848066934, "p_pre_alignment_abs_mean": 0.15834814498834965, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2760295617464563, "p_pre_best_target_pose_y": 0.2975116730645128, "p_pre_best_target_pose_z": 1.040931109124104, "p_pre_best_target_pose_qx": 0.23515477710115681, "p_pre_best_target_pose_qy": 0.7243520246909616, "p_pre_best_target_pose_qz": 0.6151636683268841, "p_pre_best_target_pose_qw": 0.20393635355968606, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6666666666666666, "three_view_whole_tray_visibility": 0.7708333333333334, "full_view_visibility": 0.7366255144032922, "full_view_whole_tray_visibility": 0.8084577114427861, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6666666666666666, "wrist_left_tray_visibility": 0.7708333333333334, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 60.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 222.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0168.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0168.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e838ba6ada80cbf261f3cb3dc001e4f1fa7385
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0168.debug.json
@@ -0,0 +1 @@
+{"frame_index": 168, "state": {"door_angle": 0.7228018045425415, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.1718561351299286, 0.09142391383647919, 1.186241626739502, 0.26109522581100464, 0.8682769536972046, 0.4043648838996887, 0.12005666643381119], "right_arm_pose": [0.2306557595729828, -0.28484946489334106, 1.0643168687820435, -0.4745371639728546, 0.6195049285888672, 0.5795969367027283, 0.2347244769334793], "left_arm_joint_positions": [0.0010836161673069, -0.7050232887268066, -0.13812610507011414, -2.691525936126709, 0.8502663373947144, 2.2461588382720947, 0.8871856927871704], "right_arm_joint_positions": [-0.259044885635376, 0.34043455123901367, 0.7804374694824219, -2.1164028644561768, -1.4351528882980347, 1.4028723239898682, -2.6104328632354736], "pregrasp_goal_pose": [0.29601310976471107, 0.2975194186280422, 1.040930935744123, 0.23515570958934887, 0.7243493844748116, 0.6151667776181868, 0.20393527692223312], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0168.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0168.json
new file mode 100644
index 0000000000000000000000000000000000000000..714be50300922675d3a71f061b9acb3b3e7b745d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0168.json
@@ -0,0 +1 @@
+{"frame_index": 168, "time_norm": 0.5217391304347826, "door_angle": 0.7228018045425415, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2306557595729828, "right_arm_pose_y": -0.28484946489334106, "right_arm_pose_z": 1.0643168687820435, "right_arm_pose_qx": -0.4745371639728546, "right_arm_pose_qy": 0.6195049285888672, "right_arm_pose_qz": 0.5795969367027283, "right_arm_pose_qw": 0.2347244769334793, "left_arm_pose_x": 0.1718561351299286, "left_arm_pose_y": 0.09142391383647919, "left_arm_pose_z": 1.186241626739502, "left_arm_pose_qx": 0.26109522581100464, "left_arm_pose_qy": 0.8682769536972046, "left_arm_pose_qz": 0.4043648838996887, "left_arm_pose_qw": 0.12005666643381119, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2810791852188733, "pregrasp_position_error": 0.2810791852188733, "pregrasp_orientation_error_deg": 31.026138362051388, "p_pre": 0.6708163177812567, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.34163263556251355, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.231767511676833, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.14699828624725342, "p_pre_door_quality": 0.718854147635374, "p_pre_step_quality_mean": 0.5983630680505345, "p_pre_step_quality_min": 0.29249789990208713, "p_pre_step_quality_max": 0.9028898326158838, "p_pre_alignment_signed_mean": 0.08036217571381672, "p_pre_alignment_abs_mean": 0.1364820201150929, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.27601310976471105, "p_pre_best_target_pose_y": 0.2975194186280422, "p_pre_best_target_pose_z": 1.040930935744123, "p_pre_best_target_pose_qx": 0.23515570958934887, "p_pre_best_target_pose_qy": 0.7243493844748116, "p_pre_best_target_pose_qz": 0.6151667776181868, "p_pre_best_target_pose_qw": 0.20393527692223312, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8074074074074074, "three_view_whole_tray_visibility": 0.8606099656357389, "full_view_visibility": 0.8478280749885688, "full_view_whole_tray_visibility": 0.8834948966507667, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4222222222222222, "wrist_right_tray_visibility": 0.3917525773195876, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 38.0, "wrist_right_tray_projected_count": 194.0, "wrist_right_tray_visible_count": 76.0, "wrist_left_grasp_visibility": 0.6666666666666666, "wrist_left_tray_visibility": 0.7708333333333334, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 60.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 222.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0169.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0169.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d53ebc38dbf07c8de3ea1220ef6d8890460a0b
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0169.debug.json
@@ -0,0 +1 @@
+{"frame_index": 169, "state": {"door_angle": 0.7209597826004028, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.17187047004699707, 0.09141800552606583, 1.1861662864685059, 0.2611359655857086, 0.8682815432548523, 0.40434956550598145, 0.11998630315065384], "right_arm_pose": [0.23124143481254578, -0.29718640446662903, 1.068500280380249, -0.4933902621269226, 0.6110758781433105, 0.5754438638687134, 0.22807180881500244], "left_arm_joint_positions": [0.001085761934518814, -0.7046966552734375, -0.13813826441764832, -2.691466808319092, 0.8502949476242065, 2.246201992034912, 0.8872014284133911], "right_arm_joint_positions": [-0.2653052806854248, 0.32386326789855957, 0.8043241500854492, -2.1230335235595703, -1.4297984838485718, 1.425149917602539, -2.6425931453704834], "pregrasp_goal_pose": [0.29602543759741273, 0.2975151509492329, 1.0409297461463147, 0.2351548769175048, 0.7243454824391051, 0.6151713878179893, 0.20393618987826095], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0169.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0169.json
new file mode 100644
index 0000000000000000000000000000000000000000..763b790805f118efe3eeb2da3d7a412988d781e5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0169.json
@@ -0,0 +1 @@
+{"frame_index": 169, "time_norm": 0.5248447204968945, "door_angle": 0.7209597826004028, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23124143481254578, "right_arm_pose_y": -0.29718640446662903, "right_arm_pose_z": 1.068500280380249, "right_arm_pose_qx": -0.4933902621269226, "right_arm_pose_qy": 0.6110758781433105, "right_arm_pose_qz": 0.5754438638687134, "right_arm_pose_qw": 0.22807180881500244, "left_arm_pose_x": 0.17187047004699707, "left_arm_pose_y": 0.09141800552606583, "left_arm_pose_z": 1.1861662864685059, "left_arm_pose_qx": 0.2611359655857086, "left_arm_pose_qy": 0.8682815432548523, "left_arm_pose_qz": 0.40434956550598145, "left_arm_pose_qw": 0.11998630315065384, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28104117485482855, "pregrasp_position_error": 0.28104117485482855, "pregrasp_orientation_error_deg": 31.03148677594041, "p_pre": 0.33838945191715775, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.33838945191715775, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.2196001718361114, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.11697244644165039, "p_pre_door_quality": 0.7091481052844604, "p_pre_step_quality_mean": 0.5844972932635148, "p_pre_step_quality_min": 0.48976580945335546, "p_pre_step_quality_max": 0.8937485820811226, "p_pre_alignment_signed_mean": 0.13878679073411992, "p_pre_alignment_abs_mean": 0.13878679073411992, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.29602543759741273, "p_pre_best_target_pose_y": 0.2975151509492329, "p_pre_best_target_pose_z": 1.0409297461463147, "p_pre_best_target_pose_qx": 0.2351548769175048, "p_pre_best_target_pose_qy": 0.7243454824391051, "p_pre_best_target_pose_qz": 0.6151713878179893, "p_pre_best_target_pose_qw": 0.20393618987826095, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7851851851851852, "three_view_whole_tray_visibility": 0.8390957446808511, "full_view_visibility": 0.8302697759487883, "full_view_whole_tray_visibility": 0.865512861225786, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.35555555555555557, "wrist_right_tray_visibility": 0.2978723404255319, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 32.0, "wrist_right_tray_projected_count": 188.0, "wrist_right_tray_visible_count": 56.0, "wrist_left_grasp_visibility": 0.6666666666666666, "wrist_left_tray_visibility": 0.7708333333333334, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 60.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 222.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0182.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0182.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..54392bbc89734a5a27fe11ac57811d45462a58d5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0182.debug.json
@@ -0,0 +1 @@
+{"frame_index": 182, "state": {"door_angle": 0.7228018045425415, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.1783323585987091, 0.10331182181835175, 1.1792885065078735, 0.2589103579521179, 0.8615633249282837, 0.4185470938682556, 0.12446855008602142], "right_arm_pose": [0.23666931688785553, -0.34837859869003296, 1.0851023197174072, -0.5679262280464172, 0.5666696429252625, 0.5619057416915894, 0.20151287317276], "left_arm_joint_positions": [0.03701973333954811, -0.6827695369720459, -0.13687655329704285, -2.7038168907165527, 0.9171782732009888, 2.2970693111419678, 0.8468931913375854], "right_arm_joint_positions": [-0.289628267288208, 0.2582974433898926, 0.8986389636993408, -2.1493430137634277, -1.4086188077926636, 1.516113519668579, -2.7728216648101807], "pregrasp_goal_pose": [0.2960121525787383, 0.2975207559131063, 1.0409310430831726, 0.23515581502782443, 0.7243496185236348, 0.6151665033617735, 0.20393515132245688], "pregrasp_position_error": 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"source": "assisted"}]}, "p_ext": {"initial_height": 1.047481894493103, "final_height": 1.047481894493103, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.047481894493103}], "score": 0.0007339318593343093}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0182.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0182.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f341be0f8c6c67f94be929620d5617a5f97b65d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0182.json
@@ -0,0 +1 @@
+{"frame_index": 182, "time_norm": 0.5652173913043478, "door_angle": 0.7228018045425415, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23666931688785553, "right_arm_pose_y": -0.34837859869003296, "right_arm_pose_z": 1.0851023197174072, "right_arm_pose_qx": -0.5679262280464172, "right_arm_pose_qy": 0.5666696429252625, "right_arm_pose_qz": 0.5619057416915894, "right_arm_pose_qw": 0.20151287317276, "left_arm_pose_x": 0.1783323585987091, "left_arm_pose_y": 0.10331182181835175, "left_arm_pose_z": 1.1792885065078735, "left_arm_pose_qx": 0.2589103579521179, "left_arm_pose_qy": 0.8615633249282837, "left_arm_pose_qz": 0.4185470938682556, "left_arm_pose_qw": 0.12446855008602142, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.05058876138582824, "pregrasp_distance": 0.2659105708292175, "pregrasp_position_error": 0.2659105708292175, "pregrasp_orientation_error_deg": 29.150942667803868, "p_pre": 0.35080636931004994, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.35080636931004994, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.1168083117614183, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.1187739372253418, "p_pre_door_quality": 0.710406410763059, "p_pre_step_quality_mean": 0.5862948725186559, "p_pre_step_quality_min": 0.489680899764367, "p_pre_step_quality_max": 0.8992860266159796, "p_pre_alignment_signed_mean": 0.13625700568324026, "p_pre_alignment_abs_mean": 0.13625700568324026, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2960121525787383, "p_pre_best_target_pose_y": 0.2975207559131063, "p_pre_best_target_pose_z": 1.0409310430831726, "p_pre_best_target_pose_qx": 0.23515581502782443, "p_pre_best_target_pose_qy": 0.7243496185236348, "p_pre_best_target_pose_qz": 0.6151665033617735, "p_pre_best_target_pose_qw": 0.20393515132245688, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.82, "three_view_whole_tray_visibility": 0.8589285714285715, "full_view_visibility": 0.8577777777777778, "full_view_whole_tray_visibility": 0.8820895522388059, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3416666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 41.0, "wrist_left_grasp_visibility": 0.7, "wrist_left_tray_visibility": 0.7857142857142857, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 280.0, "wrist_left_tray_visible_count": 220.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0183.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0183.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..accbffa88e0f82bf69a4cb0258e9084a0b5f41fc
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0183.debug.json
@@ -0,0 +1 @@
+{"frame_index": 183, "state": {"door_angle": 0.7213174104690552, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.1811497062444687, 0.10850140452384949, 1.176422357559204, 0.2578851878643036, 0.8585498929023743, 0.4247511923313141, 0.1263873428106308], "right_arm_pose": [0.23668751120567322, -0.3484010696411133, 1.0851163864135742, -0.5679467916488647, 0.5666325688362122, 0.5619234442710876, 0.20150968432426453], "left_arm_joint_positions": [0.05324125662446022, -0.6722316741943359, -0.13701674342155457, -2.7074623107910156, 0.9475833177566528, 2.3181374073028564, 0.8274787664413452], "right_arm_joint_positions": [-0.2896285057067871, 0.2582058906555176, 0.8986387252807617, -2.149365186691284, -1.4086579084396362, 1.516115665435791, -2.772902011871338], "pregrasp_goal_pose": [0.2960112065088847, 0.29752029997241614, 1.0409306811919268, 0.23515689311361113, 0.72434650332631, 0.6151702029272403, 0.20393381321046264], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0183.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0183.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3c92ca495e097e4cedfcec94d82849d0c8ed1e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0183.json
@@ -0,0 +1 @@
+{"frame_index": 183, "time_norm": 0.5683229813664596, "door_angle": 0.7213174104690552, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23668751120567322, "right_arm_pose_y": -0.3484010696411133, "right_arm_pose_z": 1.0851163864135742, "right_arm_pose_qx": -0.5679467916488647, "right_arm_pose_qy": 0.5666325688362122, "right_arm_pose_qz": 0.5619234442710876, "right_arm_pose_qw": 0.20150968432426453, "left_arm_pose_x": 0.1811497062444687, "left_arm_pose_y": 0.10850140452384949, "left_arm_pose_z": 1.176422357559204, "left_arm_pose_qx": 0.2578851878643036, "left_arm_pose_qy": 0.8585498929023743, "left_arm_pose_qz": 0.4247511923313141, "left_arm_pose_qw": 0.1263873428106308, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.07389653362757054, "pregrasp_distance": 0.2593825388194117, "pregrasp_position_error": 0.2593825388194117, "pregrasp_orientation_error_deg": 28.327662467672116, "p_pre": 0.6787880436537941, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.3575760873075881, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.0794222065164956, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.1406412124633789, "p_pre_door_quality": 0.7151475651837377, "p_pre_step_quality_mean": 0.5930679502624824, "p_pre_step_quality_min": 0.2855159280236999, "p_pre_step_quality_max": 0.9177764263412418, "p_pre_alignment_signed_mean": 0.0770562549122526, "p_pre_alignment_abs_mean": 0.13179726509728443, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.27601120650888467, "p_pre_best_target_pose_y": 0.29752029997241614, "p_pre_best_target_pose_z": 1.0409306811919268, "p_pre_best_target_pose_qx": 0.23515689311361113, "p_pre_best_target_pose_qy": 0.72434650332631, "p_pre_best_target_pose_qz": 0.6151702029272403, "p_pre_best_target_pose_qw": 0.20393381321046264, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7066666666666667, "three_view_whole_tray_visibility": 0.8495238095238096, "full_view_visibility": 0.7682304526748971, "full_view_whole_tray_visibility": 0.8742288557213931, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3416666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 41.0, "wrist_left_grasp_visibility": 0.5111111111111111, "wrist_left_tray_visibility": 0.7714285714285715, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 46.0, "wrist_left_tray_projected_count": 280.0, "wrist_left_tray_visible_count": 216.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0196.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0196.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a19c8e577548cbeaba82ac64edc3267da31628
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0196.debug.json
@@ -0,0 +1 @@
+{"frame_index": 196, "state": {"door_angle": 0.7228018045425415, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.21416139602661133, 0.16903311014175415, 1.141958236694336, 0.24609768390655518, 0.818920910358429, 0.4968264400959015, 0.14821578562259674], "right_arm_pose": [0.23665335774421692, -0.34839385747909546, 1.0851082801818848, -0.567949652671814, 0.5666585564613342, 0.5618982315063477, 0.20149892568588257], "left_arm_joint_positions": [0.25087690353393555, -0.5056090354919434, -0.16158291697502136, -2.6931118965148926, 1.3954194784164429, 2.494906425476074, 0.49034178256988525], "right_arm_joint_positions": [-0.28963780403137207, 0.2582991123199463, 0.8986485004425049, -2.1492490768432617, -1.408645749092102, 1.516136884689331, -2.772909164428711], "pregrasp_goal_pose": [0.2960104833202114, 0.29752232226823827, 1.0409304995567368, 0.23515468996579877, 0.7243483786958884, 0.615167952040149, 0.20393648239208154], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0196.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0196.json
new file mode 100644
index 0000000000000000000000000000000000000000..7554d272a13e1d1af41570a3bb96322e847a8927
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0196.json
@@ -0,0 +1 @@
+{"frame_index": 196, "time_norm": 0.6086956521739131, "door_angle": 0.7228018045425415, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23665335774421692, "right_arm_pose_y": -0.34839385747909546, "right_arm_pose_z": 1.0851082801818848, "right_arm_pose_qx": -0.567949652671814, "right_arm_pose_qy": 0.5666585564613342, "right_arm_pose_qz": 0.5618982315063477, "right_arm_pose_qw": 0.20149892568588257, "left_arm_pose_x": 0.21416139602661133, "left_arm_pose_y": 0.16903311014175415, "left_arm_pose_z": 1.141958236694336, "left_arm_pose_qx": 0.24609768390655518, "left_arm_pose_qy": 0.818920910358429, "left_arm_pose_qz": 0.4968264400959015, "left_arm_pose_qw": 0.14821578562259674, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.347332778762223, "pregrasp_distance": 0.18279867175344527, "pregrasp_position_error": 0.18279867175344527, "pregrasp_orientation_error_deg": 18.55906063710373, "p_pre": 0.4520455121804815, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.4520455121804815, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 1.4134575101583293, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.1186608076095581, "p_pre_door_quality": 0.7241042437175671, "p_pre_step_quality_mean": 0.6058632053108102, "p_pre_step_quality_min": 0.31133896028905295, "p_pre_step_quality_max": 0.9221932315685606, "p_pre_alignment_signed_mean": 0.0931670620840615, "p_pre_alignment_abs_mean": 0.11895675430449373, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2960104833202114, "p_pre_best_target_pose_y": 0.29752232226823827, "p_pre_best_target_pose_z": 1.0409304995567368, "p_pre_best_target_pose_qx": 0.23515468996579877, "p_pre_best_target_pose_qy": 0.7243483786958884, "p_pre_best_target_pose_qz": 0.615167952040149, "p_pre_best_target_pose_qw": 0.20393648239208154, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7, "three_view_whole_tray_visibility": 0.8780487804878048, "full_view_visibility": 0.762962962962963, "full_view_whole_tray_visibility": 0.8980706224972697, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3333333333333333, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 40.0, "wrist_left_grasp_visibility": 0.5, "wrist_left_tray_visibility": 0.8170731707317073, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 45.0, "wrist_left_tray_projected_count": 246.0, "wrist_left_tray_visible_count": 201.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0197.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0197.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1881b7e7576f68b8ace4987b55046ae03b01ad1
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0197.debug.json
@@ -0,0 +1 @@
+{"frame_index": 197, "state": {"door_angle": 0.723199725151062, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.21638256311416626, 0.17319826781749725, 1.1395999193191528, 0.2451988160610199, 0.8159793019294739, 0.5016547441482544, 0.14965923130512238], "right_arm_pose": [0.23666280508041382, -0.34840068221092224, 1.085131287574768, -0.5679374933242798, 0.5666528344154358, 0.5619165301322937, 0.20149807631969452], "left_arm_joint_positions": [0.2620429992675781, -0.4915006160736084, -0.16354629397392273, -2.688380718231201, 1.4309862852096558, 2.4992332458496094, 0.4609180688858032], "right_arm_joint_positions": [-0.2896299362182617, 0.2581009864807129, 0.8986546993255615, -2.14916729927063, -1.4086004495620728, 1.5161504745483398, -2.7729010581970215], "pregrasp_goal_pose": [0.2960172596510895, 0.29752179574882126, 1.040931254506941, 0.23515543541632733, 0.7243503869413589, 0.6151656287269387, 0.20393549805036776], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0197.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0197.json
new file mode 100644
index 0000000000000000000000000000000000000000..822cd84cf6365afaefa4d9d272357144fecaaf54
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0197.json
@@ -0,0 +1 @@
+{"frame_index": 197, "time_norm": 0.6118012422360248, "door_angle": 0.723199725151062, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23666280508041382, "right_arm_pose_y": -0.34840068221092224, "right_arm_pose_z": 1.085131287574768, "right_arm_pose_qx": -0.5679374933242798, "right_arm_pose_qy": 0.5666528344154358, "right_arm_pose_qz": 0.5619165301322937, "right_arm_pose_qw": 0.20149807631969452, "left_arm_pose_x": 0.21638256311416626, "left_arm_pose_y": 0.17319826781749725, "left_arm_pose_z": 1.1395999193191528, "left_arm_pose_qx": 0.2451988160610199, "left_arm_pose_qy": 0.8159793019294739, "left_arm_pose_qz": 0.5016547441482544, "left_arm_pose_qw": 0.14965923130512238, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.36597692008020744, "pregrasp_distance": 0.1775768281776741, "pregrasp_position_error": 0.1775768281776741, "pregrasp_orientation_error_deg": 17.891276658457183, "p_pre": 0.460443927260194, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.460443927260194, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 1.3630978209432238, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.11907446384429932, "p_pre_door_quality": 0.7252802982738884, "p_pre_step_quality_mean": 0.6075432832484121, "p_pre_step_quality_min": 0.3424683232925736, "p_pre_step_quality_max": 0.9309033514632759, "p_pre_alignment_signed_mean": 0.0841473150452147, "p_pre_alignment_abs_mean": 0.12566678666899792, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2960172596510895, "p_pre_best_target_pose_y": 0.29752179574882126, "p_pre_best_target_pose_z": 1.040931254506941, "p_pre_best_target_pose_qx": 0.23515543541632733, "p_pre_best_target_pose_qy": 0.7243503869413589, "p_pre_best_target_pose_qz": 0.6151656287269387, "p_pre_best_target_pose_qw": 0.20393549805036776, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7, "three_view_whole_tray_visibility": 0.8715447154471545, "full_view_visibility": 0.762962962962963, "full_view_whole_tray_visibility": 0.8926343890304576, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3416666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 41.0, "wrist_left_grasp_visibility": 0.5, "wrist_left_tray_visibility": 0.8048780487804879, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 45.0, "wrist_left_tray_projected_count": 246.0, "wrist_left_tray_visible_count": 198.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0198.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0198.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab94d579ad58198928a355a012c15358c3260df9
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0198.debug.json
@@ -0,0 +1 @@
+{"frame_index": 198, "state": {"door_angle": 0.7177911996841431, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.218479722738266, 0.1770971715450287, 1.1375495195388794, 0.2442842274904251, 0.8130004405975342, 0.5064893364906311, 0.1510765105485916], "right_arm_pose": [0.23665136098861694, -0.3483930230140686, 1.0850706100463867, -0.5679802894592285, 0.5666347742080688, 0.5618813037872314, 0.20152637362480164], "left_arm_joint_positions": [0.2725038528442383, -0.4774038791656494, -0.16545245051383972, -2.6830286979675293, 1.4665673971176147, 2.502277374267578, 0.43124568462371826], "right_arm_joint_positions": [-0.28963279724121094, 0.2584054470062256, 0.8986411094665527, -2.149341344833374, -1.4086397886276245, 1.5161685943603516, -2.772960662841797], "pregrasp_goal_pose": [0.29601702164020055, 0.2975220818150815, 1.0409314233006748, 0.2351592400265863, 0.7243468834571768, 0.6151697422803515, 0.20393114631835857], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0198.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0198.json
new file mode 100644
index 0000000000000000000000000000000000000000..872e59feea4b703ac891b0facd0fbbef12548657
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0198.json
@@ -0,0 +1 @@
+{"frame_index": 198, "time_norm": 0.6149068322981367, "door_angle": 0.7177911996841431, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23665136098861694, "right_arm_pose_y": -0.3483930230140686, "right_arm_pose_z": 1.0850706100463867, "right_arm_pose_qx": -0.5679802894592285, "right_arm_pose_qy": 0.5666347742080688, "right_arm_pose_qz": 0.5618813037872314, "right_arm_pose_qw": 0.20152637362480164, "left_arm_pose_x": 0.218479722738266, "left_arm_pose_y": 0.1770971715450287, "left_arm_pose_z": 1.1375495195388794, "left_arm_pose_qx": 0.2442842274904251, "left_arm_pose_qy": 0.8130004405975342, "left_arm_pose_qz": 0.5064893364906311, "left_arm_pose_qw": 0.1510765105485916, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.38314162565377785, "pregrasp_distance": 0.17276934987217257, "pregrasp_position_error": 0.17276934987217257, "pregrasp_orientation_error_deg": 17.223174473956256, "p_pre": 0.4758026423665014, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.4758026423665014, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 1.314202680337372, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.11485302448272705, "p_pre_door_quality": 0.7373595502475875, "p_pre_step_quality_mean": 0.6247993574965536, "p_pre_step_quality_min": 0.2587877334694693, "p_pre_step_quality_max": 0.9327379797357604, "p_pre_alignment_signed_mean": 0.04466888462884278, "p_pre_alignment_abs_mean": 0.1428166012164673, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.29601702164020055, "p_pre_best_target_pose_y": 0.2975220818150815, "p_pre_best_target_pose_z": 1.0409314233006748, "p_pre_best_target_pose_qx": 0.2351592400265863, "p_pre_best_target_pose_qy": 0.7243468834571768, "p_pre_best_target_pose_qz": 0.6151697422803515, "p_pre_best_target_pose_qw": 0.20393114631835857, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.76, "three_view_whole_tray_visibility": 0.8815550906555091, "full_view_visibility": 0.8103703703703704, "full_view_whole_tray_visibility": 0.9010012698016195, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3416666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 41.0, "wrist_left_grasp_visibility": 0.6, "wrist_left_tray_visibility": 0.8200836820083682, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 54.0, "wrist_left_tray_projected_count": 239.0, "wrist_left_tray_visible_count": 196.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0210.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0210.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5e9c02c3665ea19f759ef30eef8a3006795d23
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0210.debug.json
@@ -0,0 +1 @@
+{"frame_index": 210, "state": {"door_angle": 0.7193607091903687, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.24720323085784912, 0.2295367419719696, 1.107445240020752, 0.23246313631534576, 0.7733058333396912, 0.5651504397392273, 0.16900841891765594], "right_arm_pose": [0.23664860427379608, -0.34839895367622375, 1.0851401090621948, -0.5679236054420471, 0.5666743516921997, 0.5619143843650818, 0.2014828324317932], "left_arm_joint_positions": [0.3506889343261719, -0.28368496894836426, -0.16957661509513855, -2.603060722351074, 1.886205792427063, 2.447821617126465, 0.0741044282913208], "right_arm_joint_positions": [-0.28963422775268555, 0.25817251205444336, 0.8986320495605469, -2.1491410732269287, -1.4086300134658813, 1.5161402225494385, -2.772869825363159], "pregrasp_goal_pose": [0.2960089530184315, 0.29752383549422357, 1.0409306297295486, 0.23515539834024077, 0.7243479881331556, 0.6151683599198089, 0.20393582243555225], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0210.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0210.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb6db6ed3004b7f9c05c30873f61e4014646b3e6
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0210.json
@@ -0,0 +1 @@
+{"frame_index": 210, "time_norm": 0.6521739130434783, "door_angle": 0.7193607091903687, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23664860427379608, "right_arm_pose_y": -0.34839895367622375, "right_arm_pose_z": 1.0851401090621948, "right_arm_pose_qx": -0.5679236054420471, "right_arm_pose_qy": 0.5666743516921997, "right_arm_pose_qz": 0.5619143843650818, "right_arm_pose_qw": 0.2014828324317932, "left_arm_pose_x": 0.24720323085784912, "left_arm_pose_y": 0.2295367419719696, "left_arm_pose_z": 1.107445240020752, "left_arm_pose_qx": 0.23246313631534576, "left_arm_pose_qy": 0.7733058333396912, "left_arm_pose_qz": 0.5651504397392273, "left_arm_pose_qw": 0.16900841891765594, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.6183087462188399, "pregrasp_distance": 0.10690386701803783, "pregrasp_position_error": 0.10690386701803783, "pregrasp_orientation_error_deg": 8.971110198959517, "p_pre": 0.6160135490670623, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.6160135490670623, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.7089169135126738, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.11519420146942139, "p_pre_door_quality": 0.7802195537153932, "p_pre_step_quality_mean": 0.6860279338791331, "p_pre_step_quality_min": 0.42528480630026266, "p_pre_step_quality_max": 0.9775166544234928, "p_pre_alignment_signed_mean": -0.009913828665865109, "p_pre_alignment_abs_mean": 0.08025530925994798, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2960089530184315, "p_pre_best_target_pose_y": 0.29752383549422357, "p_pre_best_target_pose_z": 1.0409306297295486, "p_pre_best_target_pose_qx": 0.23515539834024077, "p_pre_best_target_pose_qy": 0.7243479881331556, "p_pre_best_target_pose_qz": 0.6151683599198089, "p_pre_best_target_pose_qw": 0.20393582243555225, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8333333333333334, "three_view_whole_tray_visibility": 0.8689724919093851, "full_view_visibility": 0.8683127572016461, "full_view_whole_tray_visibility": 0.8904844708496353, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3416666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 41.0, "wrist_left_grasp_visibility": 0.7222222222222222, "wrist_left_tray_visibility": 0.8009708737864077, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 65.0, "wrist_left_tray_projected_count": 206.0, "wrist_left_tray_visible_count": 165.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0211.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0211.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b18c9ab792d4cbe7d843675a93b02b6dc20779d1
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0211.debug.json
@@ -0,0 +1 @@
+{"frame_index": 211, "state": {"door_angle": 0.7199329137802124, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.2498701810836792, 0.23438850045204163, 1.1046061515808105, 0.23132112622261047, 0.7694298028945923, 0.5704065561294556, 0.1706012636423111], "right_arm_pose": [0.23667222261428833, -0.3483973443508148, 1.085116982460022, -0.5679463744163513, 0.5666391849517822, 0.5619187951087952, 0.20150525867938995], "left_arm_joint_positions": [0.35448431968688965, -0.2648661136627197, -0.168666809797287, -2.5953216552734375, 1.919659972190857, 2.436082363128662, 0.04549562931060791], "right_arm_joint_positions": [-0.28963398933410645, 0.258253812789917, 0.8986735343933105, -2.149275779724121, -1.4086624383926392, 1.516139030456543, -2.7728726863861084], "pregrasp_goal_pose": [0.2959997144556023, 0.2975277158455944, 1.040928827247158, 0.2351516079246986, 0.7243465625470412, 0.6151700947137692, 0.20394002350339846], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0211.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0211.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c366bcdcb88eb1ae64a9d71e943136edbf3286
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0211.json
@@ -0,0 +1 @@
+{"frame_index": 211, "time_norm": 0.65527950310559, "door_angle": 0.7199329137802124, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23667222261428833, "right_arm_pose_y": -0.3483973443508148, "right_arm_pose_z": 1.085116982460022, "right_arm_pose_qx": -0.5679463744163513, "right_arm_pose_qy": 0.5666391849517822, "right_arm_pose_qz": 0.5619187951087952, "right_arm_pose_qw": 0.20150525867938995, "left_arm_pose_x": 0.2498701810836792, "left_arm_pose_y": 0.23438850045204163, "left_arm_pose_z": 1.1046061515808105, "left_arm_pose_qx": 0.23132112622261047, "left_arm_pose_qy": 0.7694298028945923, "left_arm_pose_qz": 0.5704065561294556, "left_arm_pose_qw": 0.1706012636423111, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.6399488375892204, "pregrasp_distance": 0.10084292738669381, "pregrasp_position_error": 0.10084292738669381, "pregrasp_orientation_error_deg": 8.235172085477602, "p_pre": 0.6074516512060191, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.6074516512060191, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.6729163933673843, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.09955096244812012, "p_pre_door_quality": 0.7601973460619817, "p_pre_step_quality_mean": 0.6574247800885455, "p_pre_step_quality_min": 0.507933491354382, "p_pre_step_quality_max": 0.9849273381339803, "p_pre_alignment_signed_mean": 0.058507033874967695, "p_pre_alignment_abs_mean": 0.08634395307230422, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 2.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.3159997144556023, "p_pre_best_target_pose_y": 0.2975277158455944, "p_pre_best_target_pose_z": 1.040928827247158, "p_pre_best_target_pose_qx": 0.2351516079246986, "p_pre_best_target_pose_qy": 0.7243465625470412, "p_pre_best_target_pose_qz": 0.6151700947137692, "p_pre_best_target_pose_qw": 0.20394002350339846, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.84, "three_view_whole_tray_visibility": 0.8913430420711974, "full_view_visibility": 0.8735802469135803, "full_view_whole_tray_visibility": 0.9091822441192098, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3416666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 41.0, "wrist_left_grasp_visibility": 0.7333333333333333, "wrist_left_tray_visibility": 0.8349514563106796, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 66.0, "wrist_left_tray_projected_count": 206.0, "wrist_left_tray_visible_count": 172.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0212.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0212.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d6270eb6fe4ebe9b4f593865bc89b8ee72e0ab1
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0212.debug.json
@@ -0,0 +1 @@
+{"frame_index": 212, "state": {"door_angle": 0.7190181016921997, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.2525736391544342, 0.2393212765455246, 1.1017886400222778, 0.23012132942676544, 0.7654068470001221, 0.5757817029953003, 0.17225584387779236], "right_arm_pose": [0.23665131628513336, -0.34840279817581177, 1.085153579711914, -0.5679323673248291, 0.566672146320343, 0.5619104504585266, 0.20147530734539032], "left_arm_joint_positions": [0.35807037353515625, -0.24575233459472656, -0.1676027476787567, -2.5873794555664062, 1.9527064561843872, 2.4232053756713867, 0.01728498935699463], "right_arm_joint_positions": [-0.2896268367767334, 0.2581322193145752, 0.8986685276031494, -2.149198532104492, -1.408612847328186, 1.5161664485931396, -2.772846221923828], "pregrasp_goal_pose": [0.2960085996608638, 0.29752373332676746, 1.0409307480050487, 0.23515700180552954, 0.7243470508159046, 0.6151695292871373, 0.20393377531144133], "pregrasp_position_error": 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"candidate_score": 0.6254254289784077, "source": "assisted"}]}, "p_ext": {"initial_height": 1.0474822521209717, "final_height": 1.0474822521209717, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474822521209717}], "score": 0.0007351239522298171}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0212.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0212.json
new file mode 100644
index 0000000000000000000000000000000000000000..0946cfb54ff917662191d7c74af5a4da8d1821d5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0212.json
@@ -0,0 +1 @@
+{"frame_index": 212, "time_norm": 0.6583850931677019, "door_angle": 0.7190181016921997, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23665131628513336, "right_arm_pose_y": -0.34840279817581177, "right_arm_pose_z": 1.085153579711914, "right_arm_pose_qx": -0.5679323673248291, "right_arm_pose_qy": 0.566672146320343, "right_arm_pose_qz": 0.5619104504585266, "right_arm_pose_qw": 0.20147530734539032, "left_arm_pose_x": 0.2525736391544342, "left_arm_pose_y": 0.2393212765455246, "left_arm_pose_z": 1.1017886400222778, "left_arm_pose_qx": 0.23012132942676544, "left_arm_pose_qy": 0.7654068470001221, "left_arm_pose_qz": 0.5757817029953003, "left_arm_pose_qw": 0.17225584387779236, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.6616985610644848, "pregrasp_distance": 0.0947512785684091, "pregrasp_position_error": 0.0947512785684091, "pregrasp_orientation_error_deg": 7.485973143142628, "p_pre": 0.6532388302006371, "p_ext": 0.0007351239522298171, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.6532388302006371, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.6085277378966614, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.11487698554992676, "p_pre_door_quality": 0.8001388244448193, "p_pre_step_quality_mean": 0.7144840349211705, "p_pre_step_quality_min": 0.5347244171694596, "p_pre_step_quality_max": 0.9747168712803987, "p_pre_alignment_signed_mean": -0.03755722295233192, "p_pre_alignment_abs_mean": 0.05059331041776053, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2960085996608638, "p_pre_best_target_pose_y": 0.29752373332676746, "p_pre_best_target_pose_z": 1.0409307480050487, "p_pre_best_target_pose_qx": 0.23515700180552954, "p_pre_best_target_pose_qy": 0.7243470508159046, "p_pre_best_target_pose_qz": 0.6151695292871373, "p_pre_best_target_pose_qw": 0.20393377531144133, "p_ext_initial_height": 1.0474822521209717, "p_ext_final_height": 1.0474822521209717, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8066666666666666, "three_view_whole_tray_visibility": 0.8881472491909385, "full_view_visibility": 0.8472427983539095, "full_view_whole_tray_visibility": 0.9065111336521277, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3416666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 41.0, "wrist_left_grasp_visibility": 0.6777777777777778, "wrist_left_tray_visibility": 0.8300970873786407, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 206.0, "wrist_left_tray_visible_count": 171.0, "over_shoulder_left_grasp_visibility": 0.1111111111111111, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 10.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0224.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0224.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..1995d465b973ba95f260c1e727977806af500bbb
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0224.debug.json
@@ -0,0 +1 @@
+{"frame_index": 224, "state": {"door_angle": 0.61613929271698, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.29007989168167114, 0.3081163763999939, 1.0623478889465332, 0.21237730979919434, 0.7059141993522644, 0.6472688913345337, 0.19396919012069702], "right_arm_pose": [0.2366763949394226, -0.34839707612991333, 1.0851033926010132, -0.5679535269737244, 0.5666370987892151, 0.5619096159934998, 0.20151622593402863], "left_arm_joint_positions": [0.3951141834259033, 0.028995275497436523, -0.14428231120109558, -2.4688172340393066, 2.3076868057250977, 2.1919260025024414, -0.2738841772079468], "right_arm_joint_positions": [-0.289625883102417, 0.25815296173095703, 0.8986446857452393, -2.149366617202759, -1.4086140394210815, 1.516167402267456, -2.7729053497314453], "pregrasp_goal_pose": [0.29600766237753406, 0.29752501261926967, 1.040930007514589, 0.23515200663766317, 0.7243501727423184, 0.6151658242727153, 0.20393962260758638], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0224.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0224.json
new file mode 100644
index 0000000000000000000000000000000000000000..d278fe490d60f539f8b19bfcf8e86c3ac9b0d71b
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0224.json
@@ -0,0 +1 @@
+{"frame_index": 224, "time_norm": 0.6956521739130435, "door_angle": 0.61613929271698, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2366763949394226, "right_arm_pose_y": -0.34839707612991333, "right_arm_pose_z": 1.0851033926010132, "right_arm_pose_qx": -0.5679535269737244, "right_arm_pose_qy": 0.5666370987892151, "right_arm_pose_qz": 0.5619096159934998, "right_arm_pose_qw": 0.20151622593402863, "left_arm_pose_x": 0.29007989168167114, "left_arm_pose_y": 0.3081163763999939, "left_arm_pose_z": 1.0623478889465332, "left_arm_pose_qx": 0.21237730979919434, "left_arm_pose_qy": 0.7059141993522644, "left_arm_pose_qz": 0.6472688913345337, "left_arm_pose_qw": 0.19396919012069702, "tray_height": 1.0474827289581299, "tray_grasped_left": 0.0, "pregrasp_progress": 0.9121038598635737, "pregrasp_distance": 0.024617901965666874, "pregrasp_position_error": 0.024617901965666874, "pregrasp_orientation_error_deg": 5.11047257743064, "p_pre": 0.0, "p_ext": 0.0007347265879313145, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474821329116821, "p_ext_final_height": 1.0474821329116821, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8933333333333333, "three_view_whole_tray_visibility": 0.8065843621399177, "full_view_visibility": 0.9060016460905349, "full_view_whole_tray_visibility": 0.8383391683557522, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.044444444444444446, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 4.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3333333333333333, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 40.0, "wrist_left_grasp_visibility": 0.8222222222222222, "wrist_left_tray_visibility": 0.7098765432098766, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 74.0, "wrist_left_tray_projected_count": 162.0, "wrist_left_tray_visible_count": 115.0, "over_shoulder_left_grasp_visibility": 0.07777777777777778, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 7.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0225.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0225.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..371ac02a1128ea23d041801cf146238195dc72e7
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0225.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0225.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0225.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc498ee4ad72f0523a980574998ae3563fe4df7d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0225.json
@@ -0,0 +1 @@
+{"frame_index": 225, "time_norm": 0.6987577639751553, "door_angle": 0.6071058511734009, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23662158846855164, "right_arm_pose_y": -0.34839674830436707, "right_arm_pose_z": 1.0851430892944336, "right_arm_pose_qx": -0.5679447650909424, "right_arm_pose_qy": 0.566681981086731, "right_arm_pose_qz": 0.5618822574615479, "right_arm_pose_qw": 0.20149104297161102, "left_arm_pose_x": 0.2936096489429474, "left_arm_pose_y": 0.31457674503326416, "left_arm_pose_z": 1.0585556030273438, "left_arm_pose_qx": 0.21064870059490204, "left_arm_pose_qy": 0.6999880075454712, "left_arm_pose_qz": 0.6536610126495361, "left_arm_pose_qw": 0.19588595628738403, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.9120194066432685, "pregrasp_distance": 0.024641555181704407, "pregrasp_position_error": 0.024641555181704407, "pregrasp_orientation_error_deg": 5.999508517553731, "p_pre": 0.0, "p_ext": 0.0007339318593343093, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481894493103, "p_ext_final_height": 1.047481894493103, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.84, "three_view_whole_tray_visibility": 0.7613168724279835, "full_view_visibility": 0.8590024691358025, "full_view_whole_tray_visibility": 0.8005036545666728, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 178.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.044444444444444446, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 4.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.4, "wrist_right_tray_visibility": 0.3333333333333333, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 36.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 40.0, "wrist_left_grasp_visibility": 0.7333333333333333, "wrist_left_tray_visibility": 0.6419753086419753, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 66.0, "wrist_left_tray_projected_count": 162.0, "wrist_left_tray_visible_count": 104.0, "over_shoulder_left_grasp_visibility": 0.07777777777777778, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 7.0, "over_shoulder_left_tray_projected_count": 273.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16417910447761194, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 134.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0226.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0226.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a992c4ac5095e8e0391fcef3003ed9162a764984
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0226.debug.json
@@ -0,0 +1 @@
+{"frame_index": 226, "state": {"door_angle": 0.5980237722396851, "tray_height": 1.0474827289581299, "tray_grasped_left": false, "left_arm_pose": [0.2970707416534424, 0.32096800208091736, 1.0549815893173218, 0.20883150398731232, 0.694008469581604, 0.6600137948989868, 0.19779686629772186], "right_arm_pose": [0.236649289727211, -0.34840551018714905, 1.0851483345031738, -0.5679409503936768, 0.5666569471359253, 0.5619112253189087, 0.201491579413414], "left_arm_joint_positions": [0.4005882740020752, 0.08220434188842773, -0.13767215609550476, -2.4425368309020996, 2.356804847717285, 2.1434521675109863, -0.3108466863632202], "right_arm_joint_positions": [-0.2896246910095215, 0.258303165435791, 0.8986589908599854, -2.1492443084716797, -1.4086254835128784, 1.5161564350128174, -2.772914171218872], "pregrasp_goal_pose": [0.2959964142178232, 0.29752911488493927, 1.04093067775841, 0.2351526209460106, 0.724351646224297, 0.6151641283910498, 0.2039387962484152], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0226.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0226.json
new file mode 100644
index 0000000000000000000000000000000000000000..7116c451302a45b1d1f7b4056ad14a924527754e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0226.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0238.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0238.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fa15a9cba1165a4529f6306453c62d171a8c6fb
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0238.debug.json
@@ -0,0 +1 @@
+{"frame_index": 238, "state": {"door_angle": 0.5405434370040894, "tray_height": 1.048553228378296, "tray_grasped_left": true, "left_arm_pose": [0.29657238721847534, 0.31801164150238037, 1.0480214357376099, 0.20446433126926422, 0.6783133745193481, 0.6760812997817993, 0.20248351991176605], "right_arm_pose": [0.23680242896080017, -0.34831875562667847, 1.0846009254455566, -0.5682522058486938, 0.566506564617157, 0.5616180896759033, 0.20185372233390808], "left_arm_joint_positions": [0.3891158103942871, 0.1051473617553711, -0.14504167437553406, -2.4619007110595703, 2.379483699798584, 2.0622024536132812, -0.3442119359970093], "right_arm_joint_positions": [-0.28961944580078125, 0.25870609283447266, 0.8985438346862793, -2.1497416496276855, -1.408509373664856, 1.5161876678466797, -2.7730164527893066], "pregrasp_goal_pose": [0.2867608031231349, 0.2784420988384561, 1.0430892736629023, 0.2370135489127453, 0.7257535319437828, 0.6134742737623214, 0.20188041988935543], "pregrasp_position_error": 0.04106509602841863, "pregrasp_orientation_error_deg": 9.746605338304436}, "visibility": {"best_grasp_visibility_camera": "wrist_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 194, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.32222222222222224, "grasp_projected_count": 90, "grasp_visible_count": 29, "tray_visibility": 0.0945945945945946, "tray_projected_count": 296, "tray_visible_count": 28}, "wrist_right": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.319672131147541, "tray_projected_count": 122, "tray_visible_count": 39}, "wrist_left": {"grasp_visibility": 0.7976190476190477, "grasp_projected_count": 84, "grasp_visible_count": 67, "tray_visibility": 0.15584415584415584, "tray_projected_count": 154, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.1701388888888889, "tray_projected_count": 288, "tray_visible_count": 49}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.46621621621621623, "tray_projected_count": 148, "tray_visible_count": 69}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.048553228378296, "final_height": 1.3510767221450806, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6787055701636682, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2570858522110444, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6039382875225844, "reliability": 1.0, "planner_score": 0.4469756992098599, "height_before": 1.048553228378296, "height_after": 1.1346824169158936}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0747672826410837, "reliability": 1.0, "planner_score": 0.2385865733529252, "height_before": 1.1346824169158936, "height_after": 1.3510767221450806}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0238.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0238.json
new file mode 100644
index 0000000000000000000000000000000000000000..a460e9af3d4cc0d4e174ffccaa38b667443be9fb
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0238.json
@@ -0,0 +1 @@
+{"frame_index": 238, "time_norm": 0.7391304347826086, "door_angle": 0.5405434370040894, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23680242896080017, "right_arm_pose_y": -0.34831875562667847, "right_arm_pose_z": 1.0846009254455566, "right_arm_pose_qx": -0.5682522058486938, "right_arm_pose_qy": 0.566506564617157, "right_arm_pose_qz": 0.5616180896759033, "right_arm_pose_qw": 0.20185372233390808, "left_arm_pose_x": 0.29657238721847534, "left_arm_pose_y": 0.31801164150238037, "left_arm_pose_z": 1.0480214357376099, "left_arm_pose_qx": 0.20446433126926422, "left_arm_pose_qy": 0.6783133745193481, "left_arm_pose_qz": 0.6760812997817993, "left_arm_pose_qw": 0.20248351991176605, "tray_height": 1.048553228378296, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533805373553227, "pregrasp_distance": 0.04106509602841863, "pregrasp_position_error": 0.04106509602841863, "pregrasp_orientation_error_deg": 9.746605338304436, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.048553228378296, "p_ext_final_height": 1.3510767221450806, "p_ext_total_length": 1.6787055701636682, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2570858522110444, "three_view_visibility": 0.9617724867724868, "three_view_whole_tray_visibility": 0.4256972535661061, "full_view_visibility": 0.9916512998889542, "full_view_whole_tray_visibility": 0.7696677419354438, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 194.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.32222222222222224, "overhead_tray_visibility": 0.0945945945945946, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 29.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 28.0, "wrist_right_grasp_visibility": 0.8111111111111111, "wrist_right_tray_visibility": 0.319672131147541, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 73.0, "wrist_right_tray_projected_count": 122.0, "wrist_right_tray_visible_count": 39.0, "wrist_left_grasp_visibility": 0.7976190476190477, "wrist_left_tray_visibility": 0.15584415584415584, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 67.0, "wrist_left_tray_projected_count": 154.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.6777777777777778, "over_shoulder_left_tray_visibility": 0.1701388888888889, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 61.0, "over_shoulder_left_tray_projected_count": 288.0, "over_shoulder_left_tray_visible_count": 49.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.46621621621621623, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 148.0, "over_shoulder_right_tray_visible_count": 69.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0239.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0239.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..80040d9af49cfcab9d6646635f6dbe212a0a03c0
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0239.debug.json
@@ -0,0 +1 @@
+{"frame_index": 239, "state": {"door_angle": 0.5271927118301392, "tray_height": 1.050286889076233, "tray_grasped_left": true, "left_arm_pose": [0.29193395376205444, 0.30812710523605347, 1.0495942831039429, 0.20458492636680603, 0.6783651113510132, 0.6759798526763916, 0.2025267630815506], "right_arm_pose": [0.23680661618709564, -0.3482942283153534, 1.0846155881881714, -0.5682435631752014, 0.566514790058136, 0.5616167187690735, 0.20185880362987518], "left_arm_joint_positions": [0.37984228134155273, 0.08229303359985352, -0.15389415621757507, -2.4880833625793457, 2.3613059520721436, 2.053422689437866, -0.3399008512496948], "right_arm_joint_positions": [-0.2896308898925781, 0.2587878704071045, 0.8985400199890137, -2.1497039794921875, -1.4084981679916382, 1.5161926746368408, -2.7730159759521484], "pregrasp_goal_pose": [0.2821179121259998, 0.26854795096736706, 1.0444544158182119, 0.23651791417143675, 0.7251943341477562, 0.6140874744436504, 0.20260559648589246], "pregrasp_position_error": 0.041100880303713255, "pregrasp_orientation_error_deg": 9.619892957485648}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 214, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.06418918918918919, "tray_projected_count": 296, "tray_visible_count": 19}, "wrist_right": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.3170731707317073, "tray_projected_count": 123, "tray_visible_count": 39}, "wrist_left": {"grasp_visibility": 0.7647058823529411, "grasp_projected_count": 85, "grasp_visible_count": 65, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.14864864864864866, "tray_projected_count": 296, "tray_visible_count": 44}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 18, "grasp_visible_count": 0, "tray_visibility": 0.5167785234899329, "tray_projected_count": 149, "tray_visible_count": 77}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.050286889076233, "final_height": 1.351147174835205, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6447922767125478, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2648520129650731, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5699116708325791, "reliability": 1.0, "planner_score": 0.4677215083682106, "height_before": 1.050286889076233, "height_after": 1.135067105293274}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0748806058799687, "reliability": 1.0, "planner_score": 0.23855052620531766, "height_before": 1.135067105293274, "height_after": 1.351147174835205}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0239.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0239.json
new file mode 100644
index 0000000000000000000000000000000000000000..b31aa173b40e399f84524ad703b90835e56a5c43
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0239.json
@@ -0,0 +1 @@
+{"frame_index": 239, "time_norm": 0.7422360248447205, "door_angle": 0.5271927118301392, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23680661618709564, "right_arm_pose_y": -0.3482942283153534, "right_arm_pose_z": 1.0846155881881714, "right_arm_pose_qx": -0.5682435631752014, "right_arm_pose_qy": 0.566514790058136, "right_arm_pose_qz": 0.5616167187690735, "right_arm_pose_qw": 0.20185880362987518, "left_arm_pose_x": 0.29193395376205444, "left_arm_pose_y": 0.30812710523605347, "left_arm_pose_z": 1.0495942831039429, "left_arm_pose_qx": 0.20458492636680603, "left_arm_pose_qy": 0.6783651113510132, "left_arm_pose_qz": 0.6759798526763916, "left_arm_pose_qw": 0.2025267630815506, "tray_height": 1.050286889076233, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8532527775362123, "pregrasp_distance": 0.041100880303713255, "pregrasp_position_error": 0.041100880303713255, "pregrasp_orientation_error_deg": 9.619892957485648, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.050286889076233, "p_ext_final_height": 1.351147174835205, "p_ext_total_length": 1.6447922767125478, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2648520129650731, "three_view_visibility": 0.9372549019607843, "three_view_whole_tray_visibility": 0.42213883677298314, "full_view_visibility": 0.9911382231905108, "full_view_whole_tray_visibility": 0.7775324749970045, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 214.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.4222222222222222, "overhead_tray_visibility": 0.06418918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 38.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 19.0, "wrist_right_grasp_visibility": 0.7333333333333333, "wrist_right_tray_visibility": 0.3170731707317073, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 66.0, "wrist_right_tray_projected_count": 123.0, "wrist_right_tray_visible_count": 39.0, "wrist_left_grasp_visibility": 0.7647058823529411, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 85.0, "wrist_left_grasp_visible_count": 65.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.7555555555555555, "over_shoulder_left_tray_visibility": 0.14864864864864866, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 68.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 44.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.5167785234899329, "over_shoulder_right_grasp_projected_count": 18.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 149.0, "over_shoulder_right_tray_visible_count": 77.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0240.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0240.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d206a2def3232d2d016242d28c4c9e61353096
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0240.debug.json
@@ -0,0 +1 @@
+{"frame_index": 240, "state": {"door_angle": 0.5145071744918823, "tray_height": 1.0522024631500244, "tray_grasped_left": true, "left_arm_pose": [0.28685081005096436, 0.297339528799057, 1.0515246391296387, 0.20452433824539185, 0.6783183217048645, 0.6760161519050598, 0.20262359082698822], "right_arm_pose": [0.23677189648151398, -0.34830570220947266, 1.0847103595733643, -0.5681915283203125, 0.5665404200553894, 0.5616644024848938, 0.20180067420005798], "left_arm_joint_positions": [0.3694279193878174, 0.057445526123046875, -0.1641072928905487, -2.5156006813049316, 2.340325117111206, 2.0440285205841064, -0.3349071741104126], "right_arm_joint_positions": [-0.2896265983581543, 0.2587137222290039, 0.8985261917114258, -2.1494805812835693, -1.408530592918396, 1.5161824226379395, -2.773001194000244], "pregrasp_goal_pose": [0.27700576193363324, 0.2577523499234599, 1.046631747557239, 0.23686441315609352, 0.7256685027757849, 0.6135139312131381, 0.20224027805254519], "pregrasp_position_error": 0.04108539998223633, "pregrasp_orientation_error_deg": 9.722681449986034}, "visibility": {"best_grasp_visibility_camera": "wrist_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 226, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.4111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 37, "tray_visibility": 0.1891891891891892, "tray_projected_count": 296, "tray_visible_count": 56}, "wrist_right": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 75, "tray_visibility": 0.24, "tray_projected_count": 125, "tray_visible_count": 30}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.14864864864864866, "tray_projected_count": 296, "tray_visible_count": 44}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 35, "grasp_visible_count": 0, "tray_visibility": 0.5063291139240507, "tray_projected_count": 158, "tray_visible_count": 80}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0522024631500244, "final_height": 1.3511838912963867, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6089073527596303, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.27347159485425876, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5338403764795038, "reliability": 1.0, "planner_score": 0.49076633105086576, "height_before": 1.0522024631500244, "height_after": 1.1349284648895264}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750669762801266, "reliability": 1.0, "planner_score": 0.23849125522715758, "height_before": 1.1349284648895264, "height_after": 1.3511838912963867}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0240.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0240.json
new file mode 100644
index 0000000000000000000000000000000000000000..89d91352a828d9b738af8c4038ffb51165e7f6c5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0240.json
@@ -0,0 +1 @@
+{"frame_index": 240, "time_norm": 0.7453416149068323, "door_angle": 0.5145071744918823, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23677189648151398, "right_arm_pose_y": -0.34830570220947266, "right_arm_pose_z": 1.0847103595733643, "right_arm_pose_qx": -0.5681915283203125, "right_arm_pose_qy": 0.5665404200553894, "right_arm_pose_qz": 0.5616644024848938, "right_arm_pose_qw": 0.20180067420005798, "left_arm_pose_x": 0.28685081005096436, "left_arm_pose_y": 0.297339528799057, "left_arm_pose_z": 1.0515246391296387, "left_arm_pose_qx": 0.20452433824539185, "left_arm_pose_qy": 0.6783183217048645, "left_arm_pose_qz": 0.6760161519050598, "left_arm_pose_qw": 0.20262359082698822, "tray_height": 1.0522024631500244, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533080470277805, "pregrasp_distance": 0.04108539998223633, "pregrasp_position_error": 0.04108539998223633, "pregrasp_orientation_error_deg": 9.722681449986034, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0522024631500244, "p_ext_final_height": 1.3511838912963867, "p_ext_total_length": 1.6089073527596303, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.27347159485425876, "three_view_visibility": 0.962962962962963, "three_view_whole_tray_visibility": 0.3569230769230769, "full_view_visibility": 0.9958802011888431, "full_view_whole_tray_visibility": 0.7808563952251945, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 226.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.4111111111111111, "overhead_tray_visibility": 0.1891891891891892, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 37.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 56.0, "wrist_right_grasp_visibility": 0.8333333333333334, "wrist_right_tray_visibility": 0.24, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 75.0, "wrist_right_tray_projected_count": 125.0, "wrist_right_tray_visible_count": 30.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.8111111111111111, "over_shoulder_left_tray_visibility": 0.14864864864864866, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 73.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 44.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.5063291139240507, "over_shoulder_right_grasp_projected_count": 35.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 158.0, "over_shoulder_right_tray_visible_count": 80.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0241.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0241.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b48551114ebe17ae00681b6d8a6a3a72a6caeb4d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0241.debug.json
@@ -0,0 +1 @@
+{"frame_index": 241, "state": {"door_angle": 0.5008605718612671, "tray_height": 1.054142713546753, "tray_grasped_left": true, "left_arm_pose": [0.2814534604549408, 0.2860516309738159, 1.0534065961837769, 0.20456771552562714, 0.6783149838447571, 0.6759948134422302, 0.20266225934028625], "right_arm_pose": [0.2367473989725113, -0.3483366072177887, 1.084770679473877, -0.5681635141372681, 0.5665649175643921, 0.5616902112960815, 0.2017391175031662], "left_arm_joint_positions": [0.3581888675689697, 0.03156590461730957, -0.17520901560783386, -2.54386043548584, 2.317472219467163, 2.034651279449463, -0.3293393850326538], "right_arm_joint_positions": [-0.28962254524230957, 0.25856542587280273, 0.8985679149627686, -2.1495306491851807, -1.4085737466812134, 1.5161783695220947, -2.7729644775390625], "pregrasp_goal_pose": [0.27159110335511577, 0.24651557119153267, 1.0480613888432508, 0.23595091845375163, 0.7251465068517877, 0.6140917935672151, 0.2034231470479257], "pregrasp_position_error": 0.041096682982765864, "pregrasp_orientation_error_deg": 9.597519477127706}, "visibility": {"best_grasp_visibility_camera": "wrist_right", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 244, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.3888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 35, "tray_visibility": 0.20270270270270271, "tray_projected_count": 296, "tray_visible_count": 60}, "wrist_right": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.25984251968503935, "tray_projected_count": 127, "tray_visible_count": 33}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.25, "tray_projected_count": 296, "tray_visible_count": 74}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 60, "grasp_visible_count": 0, "tray_visibility": 0.5058823529411764, "tray_projected_count": 170, "tray_visible_count": 86}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.054142713546753, "final_height": 1.3513069152832031, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.5729591034752224, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.28249242425481225, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.49800132238406775, "reliability": 1.0, "planner_score": 0.5147871507942673, "height_before": 1.054142713546753, "height_after": 1.1352001428604126}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749577810911546, "reliability": 1.0, "planner_score": 0.23852598055189878, "height_before": 1.1352001428604126, "height_after": 1.3513069152832031}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0241.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0241.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae76281c536a92b6336b6730c75e0a372f64ff6c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0241.json
@@ -0,0 +1 @@
+{"frame_index": 241, "time_norm": 0.7484472049689441, "door_angle": 0.5008605718612671, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2367473989725113, "right_arm_pose_y": -0.3483366072177887, "right_arm_pose_z": 1.084770679473877, "right_arm_pose_qx": -0.5681635141372681, "right_arm_pose_qy": 0.5665649175643921, "right_arm_pose_qz": 0.5616902112960815, "right_arm_pose_qw": 0.2017391175031662, "left_arm_pose_x": 0.2814534604549408, "left_arm_pose_y": 0.2860516309738159, "left_arm_pose_z": 1.0534065961837769, "left_arm_pose_qx": 0.20456771552562714, "left_arm_pose_qy": 0.6783149838447571, "left_arm_pose_qz": 0.6759948134422302, "left_arm_pose_qw": 0.20266225934028625, "tray_height": 1.054142713546753, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8532677575747771, "pregrasp_distance": 0.041096682982765864, "pregrasp_position_error": 0.041096682982765864, "pregrasp_orientation_error_deg": 9.597519477127706, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.054142713546753, "p_ext_final_height": 1.3513069152832031, "p_ext_total_length": 1.5729591034752224, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.28249242425481225, "three_view_visibility": 0.9555555555555556, "three_view_whole_tray_visibility": 0.37371290127195633, "full_view_visibility": 0.9942661179698217, "full_view_whole_tray_visibility": 0.8149515782216106, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 244.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.3888888888888889, "overhead_tray_visibility": 0.20270270270270271, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 35.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 60.0, "wrist_right_grasp_visibility": 0.8, "wrist_right_tray_visibility": 0.25984251968503935, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 72.0, "wrist_right_tray_projected_count": 127.0, "wrist_right_tray_visible_count": 33.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.7888888888888889, "over_shoulder_left_tray_visibility": 0.25, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 71.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 74.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.5058823529411764, "over_shoulder_right_grasp_projected_count": 60.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 170.0, "over_shoulder_right_tray_visible_count": 86.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0242.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0242.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb44ad286c00b0b0e12e855e53cc892675d72a5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0242.debug.json
@@ -0,0 +1 @@
+{"frame_index": 242, "state": {"door_angle": 0.49420082569122314, "tray_height": 1.0560004711151123, "tray_grasped_left": true, "left_arm_pose": [0.27587586641311646, 0.2747129499912262, 1.0553762912750244, 0.2045077085494995, 0.6783099174499512, 0.6760265827178955, 0.2026338428258896], "right_arm_pose": [0.2367589771747589, -0.34833094477653503, 1.0847245454788208, -0.5681820511817932, 0.5665483474731445, 0.5616838335990906, 0.20175102353096008], "left_arm_joint_positions": [0.34647488594055176, 0.0054912567138671875, -0.18688413500785828, -2.5716586112976074, 2.293107032775879, 2.0255563259124756, -0.3232837915420532], "right_arm_joint_positions": [-0.2896270751953125, 0.25862574577331543, 0.8985917568206787, -2.1495985984802246, -1.4085427522659302, 1.5161843299865723, -2.7729218006134033], "pregrasp_goal_pose": [0.26606582584434874, 0.2351489243333987, 1.0500661892939265, 0.23625001365149992, 0.7252233322994288, 0.6140309468790421, 0.20298533349236186], "pregrasp_position_error": 0.041106522660810906, "pregrasp_orientation_error_deg": 9.625808563460167}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.031496062992125984, "tray_projected_count": 254, "tray_visible_count": 8}, "overhead": {"grasp_visibility": 0.5222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 47, "tray_visibility": 0.2668918918918919, "tray_projected_count": 296, "tray_visible_count": 79}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.31343283582089554, "tray_projected_count": 134, "tray_visible_count": 42}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.2702702702702703, "tray_projected_count": 296, "tray_visible_count": 80}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 78, "grasp_visible_count": 0, "tray_visibility": 0.5625, "tray_projected_count": 176, "tray_visible_count": 99}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0560004711151123, "final_height": 1.3513720035552979, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.5389961120235758, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2914677786405709, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.4638215328349954, "reliability": 1.0, "planner_score": 0.538790368496892, "height_before": 1.0560004711151123, "height_after": 1.1351687908172607}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0751745791885803, "reliability": 1.0, "planner_score": 0.23845704121129707, "height_before": 1.1351687908172607, "height_after": 1.3513720035552979}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0242.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0242.json
new file mode 100644
index 0000000000000000000000000000000000000000..4abfa02a1135d545f494313e147b6fda954a625e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0242.json
@@ -0,0 +1 @@
+{"frame_index": 242, "time_norm": 0.7515527950310559, "door_angle": 0.49420082569122314, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2367589771747589, "right_arm_pose_y": -0.34833094477653503, "right_arm_pose_z": 1.0847245454788208, "right_arm_pose_qx": -0.5681820511817932, "right_arm_pose_qy": 0.5665483474731445, "right_arm_pose_qz": 0.5616838335990906, "right_arm_pose_qw": 0.20175102353096008, "left_arm_pose_x": 0.27587586641311646, "left_arm_pose_y": 0.2747129499912262, "left_arm_pose_z": 1.0553762912750244, "left_arm_pose_qx": 0.2045077085494995, "left_arm_pose_qy": 0.6783099174499512, "left_arm_pose_qz": 0.6760265827178955, "left_arm_pose_qw": 0.2026338428258896, "tray_height": 1.0560004711151123, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8532326187013544, "pregrasp_distance": 0.041106522660810906, "pregrasp_position_error": 0.041106522660810906, "pregrasp_orientation_error_deg": 9.625808563460167, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0560004711151123, "p_ext_final_height": 1.3513720035552979, "p_ext_total_length": 1.5389961120235758, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2914677786405709, "three_view_visibility": 0.9506172839506173, "three_view_whole_tray_visibility": 0.43735592178417415, "full_view_visibility": 0.9965919829294315, "full_view_whole_tray_visibility": 0.8683133127518623, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.031496062992125984, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 8.0, "overhead_grasp_visibility": 0.5222222222222223, "overhead_tray_visibility": 0.2668918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 47.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 79.0, "wrist_right_grasp_visibility": 0.7777777777777778, "wrist_right_tray_visibility": 0.31343283582089554, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 70.0, "wrist_right_tray_projected_count": 134.0, "wrist_right_tray_visible_count": 42.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.8555555555555555, "over_shoulder_left_tray_visibility": 0.2702702702702703, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 77.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 80.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.5625, "over_shoulder_right_grasp_projected_count": 78.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 176.0, "over_shoulder_right_tray_visible_count": 99.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0243.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0243.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..64db406cd312c0ad0f1760151c422810cc2898ef
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0243.debug.json
@@ -0,0 +1 @@
+{"frame_index": 243, "state": {"door_angle": 0.4909099340438843, "tray_height": 1.0583138465881348, "tray_grasped_left": true, "left_arm_pose": [0.27037298679351807, 0.2632649540901184, 1.057430386543274, 0.20448225736618042, 0.6782248020172119, 0.6760974526405334, 0.2027079164981842], "right_arm_pose": [0.236763596534729, -0.34834054112434387, 1.0846976041793823, -0.568203330039978, 0.5665304064750671, 0.5616762638092041, 0.2017623484134674], "left_arm_joint_positions": [0.33406972885131836, -0.020395517349243164, -0.19923922419548035, -2.598440647125244, 2.267531633377075, 2.0166876316070557, -0.3167983293533325], "right_arm_joint_positions": [-0.2896153926849365, 0.2586331367492676, 0.8986015319824219, -2.149684190750122, -1.4085346460342407, 1.5161921977996826, -2.772970199584961], "pregrasp_goal_pose": [0.26053840997115696, 0.22369763369588666, 1.0522707979319261, 0.23617071878166124, 0.7249789281377926, 0.6142993978817425, 0.20313836444271038], "pregrasp_position_error": 0.041096387908100385, "pregrasp_orientation_error_deg": 9.596582482809925}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0299625468164794, "tray_projected_count": 267, "tray_visible_count": 8}, "overhead": {"grasp_visibility": 0.4444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 40, "tray_visibility": 0.3344594594594595, "tray_projected_count": 296, "tray_visible_count": 99}, "wrist_right": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.34507042253521125, "tray_projected_count": 142, "tray_visible_count": 49}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.32432432432432434, "tray_projected_count": 296, "tray_visible_count": 96}, "over_shoulder_right": {"grasp_visibility": 0.011627906976744186, "grasp_projected_count": 86, "grasp_visible_count": 1, "tray_visibility": 0.632768361581921, "tray_projected_count": 177, "tray_visible_count": 112}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0583138465881348, "final_height": 1.3512506484985352, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.5072226912772668, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.3001706238834204, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.4322994822303621, "reliability": 1.0, "planner_score": 0.5619180211094635, "height_before": 1.0583138465881348, "height_after": 1.1351767778396606}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749232090469047, "reliability": 1.0, "planner_score": 0.23853697591299078, "height_before": 1.1351767778396606, "height_after": 1.3512506484985352}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0243.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0243.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ce1b9b67ec17dc6177df962be03c9321198202
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0243.json
@@ -0,0 +1 @@
+{"frame_index": 243, "time_norm": 0.7546583850931677, "door_angle": 0.4909099340438843, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.236763596534729, "right_arm_pose_y": -0.34834054112434387, "right_arm_pose_z": 1.0846976041793823, "right_arm_pose_qx": -0.568203330039978, "right_arm_pose_qy": 0.5665304064750671, "right_arm_pose_qz": 0.5616762638092041, "right_arm_pose_qw": 0.2017623484134674, "left_arm_pose_x": 0.27037298679351807, "left_arm_pose_y": 0.2632649540901184, "left_arm_pose_z": 1.057430386543274, "left_arm_pose_qx": 0.20448225736618042, "left_arm_pose_qy": 0.6782248020172119, "left_arm_pose_qz": 0.6760974526405334, "left_arm_pose_qw": 0.2027079164981842, "tray_height": 1.0583138465881348, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8532688173417631, "pregrasp_distance": 0.041096387908100385, "pregrasp_position_error": 0.041096387908100385, "pregrasp_orientation_error_deg": 9.596582482809925, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0583138465881348, "p_ext_final_height": 1.3512506484985352, "p_ext_total_length": 1.5072226912772668, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.3001706238834204, "three_view_visibility": 0.9580246913580247, "three_view_whole_tray_visibility": 0.4624331990212668, "full_view_visibility": 0.999743906026804, "full_view_whole_tray_visibility": 0.9112260938521061, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0299625468164794, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 267.0, "front_tray_visible_count": 8.0, "overhead_grasp_visibility": 0.4444444444444444, "overhead_tray_visibility": 0.3344594594594595, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 40.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 99.0, "wrist_right_grasp_visibility": 0.8111111111111111, "wrist_right_tray_visibility": 0.34507042253521125, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 73.0, "wrist_right_tray_projected_count": 142.0, "wrist_right_tray_visible_count": 49.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.9888888888888889, "over_shoulder_left_tray_visibility": 0.32432432432432434, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 89.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 96.0, "over_shoulder_right_grasp_visibility": 0.011627906976744186, "over_shoulder_right_tray_visibility": 0.632768361581921, "over_shoulder_right_grasp_projected_count": 86.0, "over_shoulder_right_grasp_visible_count": 1.0, "over_shoulder_right_tray_projected_count": 177.0, "over_shoulder_right_tray_visible_count": 112.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0244.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0244.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..787925d1d98827f7d66df5c620ed85038f66de1f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0244.debug.json
@@ -0,0 +1 @@
+{"frame_index": 244, "state": {"door_angle": 0.49049365520477295, "tray_height": 1.0598094463348389, "tray_grasped_left": true, "left_arm_pose": [0.2648169994354248, 0.2518863379955292, 1.0592024326324463, 0.20456533133983612, 0.6782577037811279, 0.6760649681091309, 0.2026224136352539], "right_arm_pose": [0.23676301538944244, -0.3483409881591797, 1.0847268104553223, -0.5681831240653992, 0.5665733218193054, 0.5616611242294312, 0.20174133777618408], "left_arm_joint_positions": [0.3213062286376953, -0.046131134033203125, -0.21201273798942566, -2.62424373626709, 2.240729570388794, 2.008255958557129, -0.30987679958343506], "right_arm_joint_positions": [-0.28963279724121094, 0.25878047943115234, 0.8985733985900879, -2.149522304534912, -1.4085232019424438, 1.5161807537078857, -2.772942543029785], "pregrasp_goal_pose": [0.2549635492483684, 0.2122954629787581, 1.0538146133106434, 0.23627324489281193, 0.725014594327092, 0.6142559665342872, 0.20302314975778582], "pregrasp_position_error": 0.04115284269922046, "pregrasp_orientation_error_deg": 9.598513881117361}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.05714285714285714, "tray_projected_count": 280, "tray_visible_count": 16}, "overhead": {"grasp_visibility": 0.5888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 53, "tray_visibility": 0.39864864864864863, "tray_projected_count": 296, "tray_visible_count": 118}, "wrist_right": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.2986111111111111, "tray_projected_count": 144, "tray_visible_count": 43}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.36824324324324326, "tray_projected_count": 296, "tray_visible_count": 109}, "over_shoulder_right": {"grasp_visibility": 0.03333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 3, "tray_visibility": 0.6174863387978142, "tray_projected_count": 183, "tray_visible_count": 113}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0598094463348389, "final_height": 1.3511613607406616, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.4795367925134544, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.3080878140206713, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.4046528727059277, "reliability": 1.0, "planner_score": 0.5830180318996941, "height_before": 1.0598094463348389, "height_after": 1.1351617574691772}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0748839198075266, "reliability": 1.0, "planner_score": 0.23854947215542938, "height_before": 1.1351617574691772, "height_after": 1.3511613607406616}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0244.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0244.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a862cfcc0da6193eca2133b81adace320f20a9f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0244.json
@@ -0,0 +1 @@
+{"frame_index": 244, "time_norm": 0.7577639751552795, "door_angle": 0.49049365520477295, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23676301538944244, "right_arm_pose_y": -0.3483409881591797, "right_arm_pose_z": 1.0847268104553223, "right_arm_pose_qx": -0.5681831240653992, "right_arm_pose_qy": 0.5665733218193054, "right_arm_pose_qz": 0.5616611242294312, "right_arm_pose_qw": 0.20174133777618408, "left_arm_pose_x": 0.2648169994354248, "left_arm_pose_y": 0.2518863379955292, "left_arm_pose_z": 1.0592024326324463, "left_arm_pose_qx": 0.20456533133983612, "left_arm_pose_qy": 0.6782577037811279, "left_arm_pose_qz": 0.6760649681091309, "left_arm_pose_qw": 0.2026224136352539, "tray_height": 1.0598094463348389, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8530672418796226, "pregrasp_distance": 0.04115284269922046, "pregrasp_position_error": 0.04115284269922046, "pregrasp_orientation_error_deg": 9.598513881117361, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0598094463348389, "p_ext_final_height": 1.3511613607406616, "p_ext_total_length": 1.4795367925134544, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.3080878140206713, "three_view_visibility": 0.9407407407407408, "three_view_whole_tray_visibility": 0.4404304029304029, "full_view_visibility": 0.9997383325712543, "full_view_whole_tray_visibility": 0.9186833933715164, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.05714285714285714, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 280.0, "front_tray_visible_count": 16.0, "overhead_grasp_visibility": 0.5888888888888889, "overhead_tray_visibility": 0.39864864864864863, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 53.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 118.0, "wrist_right_grasp_visibility": 0.7333333333333333, "wrist_right_tray_visibility": 0.2986111111111111, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 66.0, "wrist_right_tray_projected_count": 144.0, "wrist_right_tray_visible_count": 43.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.9888888888888889, "over_shoulder_left_tray_visibility": 0.36824324324324326, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 89.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 109.0, "over_shoulder_right_grasp_visibility": 0.03333333333333333, "over_shoulder_right_tray_visibility": 0.6174863387978142, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 3.0, "over_shoulder_right_tray_projected_count": 183.0, "over_shoulder_right_tray_visible_count": 113.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0245.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0245.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f06218bc23d05a3abe270436fd6edd3945bc507c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0245.debug.json
@@ -0,0 +1 @@
+{"frame_index": 245, "state": {"door_angle": 0.49070966243743896, "tray_height": 1.0617687702178955, "tray_grasped_left": true, "left_arm_pose": [0.25930970907211304, 0.24058717489242554, 1.0610953569412231, 0.2045924812555313, 0.6782307028770447, 0.6760908961296082, 0.20259878039360046], "right_arm_pose": [0.23673804104328156, -0.3483394980430603, 1.0847405195236206, -0.5681921243667603, 0.566559374332428, 0.5616623759269714, 0.20175135135650635], "left_arm_joint_positions": [0.3080580234527588, -0.07137632369995117, -0.2252030074596405, -2.648956775665283, 2.212956428527832, 2.000222682952881, -0.30253303050994873], "right_arm_joint_positions": [-0.28962182998657227, 0.2587113380432129, 0.8985767364501953, -2.149538993835449, -1.4085525274276733, 1.5162007808685303, -2.7730014324188232], "pregrasp_goal_pose": [0.24949144199910753, 0.20098078354266513, 1.0560396732337858, 0.23679142877837323, 0.7252265513414773, 0.6140284527752216, 0.2023495185784033], "pregrasp_position_error": 0.04111720493682526, "pregrasp_orientation_error_deg": 9.656602875481207}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.09027777777777778, "tray_projected_count": 288, "tray_visible_count": 26}, "overhead": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.24662162162162163, "tray_projected_count": 296, "tray_visible_count": 73}, "wrist_right": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.363013698630137, "tray_projected_count": 146, "tray_visible_count": 53}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4155405405405405, "tray_projected_count": 296, "tray_visible_count": 123}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.5714285714285714, "tray_projected_count": 196, "tray_visible_count": 112}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0617687702178955, "final_height": 1.350996732711792, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.4563425969724286, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.31500662451357797, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.3811729092300817, "reliability": 1.0, "planner_score": 0.6015590689534446, "height_before": 1.0617687702178955, "height_after": 1.1349979639053345}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.075169687742347, "reliability": 1.0, "planner_score": 0.23845859641609662, "height_before": 1.1349979639053345, "height_after": 1.350996732711792}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0245.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0245.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaa19f1881ab5e1529c49bbf813caae4f101fe86
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0245.json
@@ -0,0 +1 @@
+{"frame_index": 245, "time_norm": 0.7608695652173914, "door_angle": 0.49070966243743896, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23673804104328156, "right_arm_pose_y": -0.3483394980430603, "right_arm_pose_z": 1.0847405195236206, "right_arm_pose_qx": -0.5681921243667603, "right_arm_pose_qy": 0.566559374332428, "right_arm_pose_qz": 0.5616623759269714, "right_arm_pose_qw": 0.20175135135650635, "left_arm_pose_x": 0.25930970907211304, "left_arm_pose_y": 0.24058717489242554, "left_arm_pose_z": 1.0610953569412231, "left_arm_pose_qx": 0.2045924812555313, "left_arm_pose_qy": 0.6782307028770447, "left_arm_pose_qz": 0.6760908961296082, "left_arm_pose_qw": 0.20259878039360046, "tray_height": 1.0617687702178955, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8531944854557356, "pregrasp_distance": 0.04111720493682526, "pregrasp_position_error": 0.04111720493682526, "pregrasp_orientation_error_deg": 9.656602875481207, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0617687702178955, "p_ext_final_height": 1.350996732711792, "p_ext_total_length": 1.4563425969724286, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.31500662451357797, "three_view_visibility": 0.9530864197530864, "three_view_whole_tray_visibility": 0.5096702669476643, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9074707615140774, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.09027777777777778, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 288.0, "front_tray_visible_count": 26.0, "overhead_grasp_visibility": 0.6, "overhead_tray_visibility": 0.24662162162162163, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 54.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 73.0, "wrist_right_grasp_visibility": 0.7888888888888889, "wrist_right_tray_visibility": 0.363013698630137, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 71.0, "wrist_right_tray_projected_count": 146.0, "wrist_right_tray_visible_count": 53.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.4155405405405405, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 123.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.5714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 196.0, "over_shoulder_right_tray_visible_count": 112.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0252.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0252.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8613960e5795fed87d0a25861908dfaec8205e96
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0252.debug.json
@@ -0,0 +1 @@
+{"frame_index": 252, "state": {"door_angle": 0.43057048320770264, "tray_height": 1.0748158693313599, "tray_grasped_left": true, "left_arm_pose": [0.2224317491054535, 0.16508398950099945, 1.074068307876587, 0.2044891119003296, 0.6779230237007141, 0.6764481663703918, 0.20253996551036835], "right_arm_pose": [0.23676353693008423, -0.3483033776283264, 1.084713339805603, -0.5681643486022949, 0.5665872693061829, 0.5616520643234253, 0.20177987217903137], "left_arm_joint_positions": [0.20252156257629395, -0.23523306846618652, -0.32649967074394226, -2.78629732131958, 1.9937481880187988, 1.9504437446594238, -0.23965036869049072], "right_arm_joint_positions": [-0.28963470458984375, 0.2587242126464844, 0.8985404968261719, -2.1494648456573486, -1.4085134267807007, 1.5161685943603516, -2.772942304611206], "pregrasp_goal_pose": [0.21263401020779962, 0.12553668202344753, 1.0687836556701829, 0.23631543573360114, 0.7247449992028576, 0.6146317214209276, 0.2027992800471331], "pregrasp_position_error": 0.04108421552340126, "pregrasp_orientation_error_deg": 9.60839848308934}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.27364864864864863, "tray_projected_count": 296, "tray_visible_count": 81}, "overhead": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.5878378378378378, "tray_projected_count": 296, "tray_visible_count": 174}, "wrist_right": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.43209876543209874, "tray_projected_count": 162, "tray_visible_count": 70}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.581081081081081, "tray_projected_count": 296, "tray_visible_count": 172}, "over_shoulder_right": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 15, "tray_visibility": 0.7581967213114754, "tray_projected_count": 244, "tray_visible_count": 185}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0748158693313599, "final_height": 1.3514772653579712, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.4599427949116275, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.31390808989344915, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.3848745258026328, "reliability": 1.0, "planner_score": 0.5985973955928585, "height_before": 1.0748158693313599, "height_after": 1.135116457939148}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750682691089948, "reliability": 1.0, "planner_score": 0.23849084412300584, "height_before": 1.135116457939148, "height_after": 1.3514772653579712}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0252.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0252.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8ab29aa41c0b8101f92a6585aa203c8a73c83bc
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0252.json
@@ -0,0 +1 @@
+{"frame_index": 252, "time_norm": 0.782608695652174, "door_angle": 0.43057048320770264, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23676353693008423, "right_arm_pose_y": -0.3483033776283264, "right_arm_pose_z": 1.084713339805603, "right_arm_pose_qx": -0.5681643486022949, "right_arm_pose_qy": 0.5665872693061829, "right_arm_pose_qz": 0.5616520643234253, "right_arm_pose_qw": 0.20177987217903137, "left_arm_pose_x": 0.2224317491054535, "left_arm_pose_y": 0.16508398950099945, "left_arm_pose_z": 1.074068307876587, "left_arm_pose_qx": 0.2044891119003296, "left_arm_pose_qy": 0.6779230237007141, "left_arm_pose_qz": 0.6764481663703918, "left_arm_pose_qw": 0.20253996551036835, "tray_height": 1.0748158693313599, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533122706794742, "pregrasp_distance": 0.04108421552340126, "pregrasp_position_error": 0.04108421552340126, "pregrasp_orientation_error_deg": 9.60839848308934, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0748158693313599, "p_ext_final_height": 1.3514772653579712, "p_ext_total_length": 1.4599427949116275, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.31390808989344915, "three_view_visibility": 0.9580246913580247, "three_view_whole_tray_visibility": 0.6509650676317342, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9854276640955634, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.27364864864864863, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 81.0, "overhead_grasp_visibility": 0.9555555555555556, "overhead_tray_visibility": 0.5878378378378378, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 86.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 174.0, "wrist_right_grasp_visibility": 0.8111111111111111, "wrist_right_tray_visibility": 0.43209876543209874, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 73.0, "wrist_right_tray_projected_count": 162.0, "wrist_right_tray_visible_count": 70.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.581081081081081, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 172.0, "over_shoulder_right_grasp_visibility": 0.16666666666666666, "over_shoulder_right_tray_visibility": 0.7581967213114754, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 15.0, "over_shoulder_right_tray_projected_count": 244.0, "over_shoulder_right_tray_visible_count": 185.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0253.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0253.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb632a9d04bee15bac64338dceb1c9a02288d5c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0253.debug.json
@@ -0,0 +1 @@
+{"frame_index": 253, "state": {"door_angle": 0.4212268590927124, "tray_height": 1.0768604278564453, "tray_grasped_left": true, "left_arm_pose": [0.21744656562805176, 0.1548030823469162, 1.075920820236206, 0.20440563559532166, 0.6778488159179688, 0.6765244007110596, 0.2026183009147644], "right_arm_pose": [0.23677586019039154, -0.34830954670906067, 1.084771752357483, -0.5681337714195251, 0.5665611028671265, 0.5617086291313171, 0.2017819881439209], "left_arm_joint_positions": [0.18563222885131836, -0.2563810348510742, -0.34203383326530457, -2.8009777069091797, 1.9596261978149414, 1.9435324668884277, -0.22914183139801025], "right_arm_joint_positions": [-0.28963756561279297, 0.25851988792419434, 0.8985421657562256, -2.1496388912200928, -1.408516764640808, 1.516181230545044, -2.772974729537964], "pregrasp_goal_pose": [0.20759960211837958, 0.11519732935317711, 1.070888145661648, 0.23649584161515275, 0.7247092172611705, 0.6146795478122766, 0.2025717670770964], "pregrasp_position_error": 0.041120629542059445, "pregrasp_orientation_error_deg": 9.624744456344011}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.32222222222222224, "grasp_projected_count": 90, "grasp_visible_count": 29, "tray_visibility": 0.28378378378378377, "tray_projected_count": 296, "tray_visible_count": 84}, "overhead": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.543918918918919, "tray_projected_count": 296, "tray_visible_count": 161}, "wrist_right": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.3780487804878049, "tray_projected_count": 164, "tray_visible_count": 62}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.668918918918919, "tray_projected_count": 296, "tray_visible_count": 198}, "over_shoulder_right": {"grasp_visibility": 0.17777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 16, "tray_visibility": 0.7755905511811023, "tray_projected_count": 254, "tray_visible_count": 197}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0768604278564453, "final_height": 1.3512169122695923, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.484194085742986, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.3067475290572842, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.4092330092109763, "reliability": 1.0, "planner_score": 0.5794684783295717, "height_before": 1.0768604278564453, "height_after": 1.1351616382598877}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.07496107653201, "reliability": 1.0, "planner_score": 0.23852493248985285, "height_before": 1.1351616382598877, "height_after": 1.3512169122695923}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0253.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0253.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a88a5eb0a969c0c8ff9cdb845a447e7cf2fc768
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0253.json
@@ -0,0 +1 @@
+{"frame_index": 253, "time_norm": 0.7857142857142857, "door_angle": 0.4212268590927124, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23677586019039154, "right_arm_pose_y": -0.34830954670906067, "right_arm_pose_z": 1.084771752357483, "right_arm_pose_qx": -0.5681337714195251, "right_arm_pose_qy": 0.5665611028671265, "right_arm_pose_qz": 0.5617086291313171, "right_arm_pose_qw": 0.2017819881439209, "left_arm_pose_x": 0.21744656562805176, "left_arm_pose_y": 0.1548030823469162, "left_arm_pose_z": 1.075920820236206, "left_arm_pose_qx": 0.20440563559532166, "left_arm_pose_qy": 0.6778488159179688, "left_arm_pose_qz": 0.6765244007110596, "left_arm_pose_qw": 0.2026183009147644, "tray_height": 1.0768604278564453, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8531822593075727, "pregrasp_distance": 0.041120629542059445, "pregrasp_position_error": 0.041120629542059445, "pregrasp_orientation_error_deg": 9.624744456344011, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0768604278564453, "p_ext_final_height": 1.3512169122695923, "p_ext_total_length": 1.484194085742986, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.3067475290572842, "three_view_visibility": 0.9815912208504801, "three_view_whole_tray_visibility": 0.6230794584453121, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9872277512686082, "front_grasp_visibility": 0.32222222222222224, "front_tray_visibility": 0.28378378378378377, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 29.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 84.0, "overhead_grasp_visibility": 0.9111111111111111, "overhead_tray_visibility": 0.543918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 82.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 161.0, "wrist_right_grasp_visibility": 0.8777777777777778, "wrist_right_tray_visibility": 0.3780487804878049, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 79.0, "wrist_right_tray_projected_count": 164.0, "wrist_right_tray_visible_count": 62.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.668918918918919, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 198.0, "over_shoulder_right_grasp_visibility": 0.17777777777777778, "over_shoulder_right_tray_visibility": 0.7755905511811023, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 16.0, "over_shoulder_right_tray_projected_count": 254.0, "over_shoulder_right_tray_visible_count": 197.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0254.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0254.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..40a0b1e6d5a4b5718faf68bcc5cf12a444778dc0
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0254.debug.json
@@ -0,0 +1 @@
+{"frame_index": 254, "state": {"door_angle": 0.41213762760162354, "tray_height": 1.0784224271774292, "tray_grasped_left": true, "left_arm_pose": [0.2125033140182495, 0.14466720819473267, 1.077675461769104, 0.20440366864204407, 0.6777827143669128, 0.6765924096107483, 0.20261411368846893], "right_arm_pose": [0.23676665127277374, -0.34830230474472046, 1.0847032070159912, -0.5681807994842529, 0.566559910774231, 0.5616574287414551, 0.20179545879364014], "left_arm_joint_positions": [0.1683797836303711, -0.27633023262023926, -0.3575553596019745, -2.814587116241455, 1.9250538349151611, 1.936284065246582, -0.21822988986968994], "right_arm_joint_positions": [-0.28963208198547363, 0.25873231887817383, 0.8985388278961182, -2.1495883464813232, -1.4085232019424438, 1.5161848068237305, -2.772914171218872], "pregrasp_goal_pose": [0.20268484287350208, 0.10511026768152064, 1.0727132813497966, 0.23697314809998382, 0.7249883571461858, 0.6143568977627732, 0.20199309704383242], "pregrasp_position_error": 0.04105821663077673, "pregrasp_orientation_error_deg": 9.701153627483222}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.32432432432432434, "tray_projected_count": 296, "tray_visible_count": 96}, "overhead": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.6587837837837838, "tray_projected_count": 296, "tray_visible_count": 195}, "wrist_right": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.43529411764705883, "tray_projected_count": 170, "tray_visible_count": 74}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6790540540540541, "tray_projected_count": 296, "tray_visible_count": 201}, "over_shoulder_right": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 15, "tray_visibility": 0.7519685039370079, "tray_projected_count": 254, "tray_visible_count": 191}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0784224271774292, "final_height": 1.3510410785675049, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.5127767156717844, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.298617016446419, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.4378467271602762, "reliability": 1.0, "planner_score": 0.5577772241383612, "height_before": 1.0784224271774292, "height_after": 1.1347862482070923}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749299885115082, "reliability": 1.0, "planner_score": 0.23853481971875623, "height_before": 1.1347862482070923, "height_after": 1.3510410785675049}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0254.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0254.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d61646912c9c17f0b3137f0f2a4abeb9706238
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0254.json
@@ -0,0 +1 @@
+{"frame_index": 254, "time_norm": 0.7888198757763976, "door_angle": 0.41213762760162354, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23676665127277374, "right_arm_pose_y": -0.34830230474472046, "right_arm_pose_z": 1.0847032070159912, "right_arm_pose_qx": -0.5681807994842529, "right_arm_pose_qy": 0.566559910774231, "right_arm_pose_qz": 0.5616574287414551, "right_arm_pose_qw": 0.20179545879364014, "left_arm_pose_x": 0.2125033140182495, "left_arm_pose_y": 0.14466720819473267, "left_arm_pose_z": 1.077675461769104, "left_arm_pose_qx": 0.20440366864204407, "left_arm_pose_qy": 0.6777827143669128, "left_arm_pose_qz": 0.6765924096107483, "left_arm_pose_qw": 0.20261411368846893, "tray_height": 1.0784224271774292, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8534050959154591, "pregrasp_distance": 0.04105821663077673, "pregrasp_position_error": 0.04105821663077673, "pregrasp_orientation_error_deg": 9.701153627483222, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0784224271774292, "p_ext_final_height": 1.3510410785675049, "p_ext_total_length": 1.5127767156717844, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.298617016446419, "three_view_visibility": 0.994238683127572, "three_view_whole_tray_visibility": 0.6771432065549713, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9912304295989507, "front_grasp_visibility": 0.6666666666666666, "front_tray_visibility": 0.32432432432432434, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 60.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 96.0, "overhead_grasp_visibility": 0.9222222222222223, "overhead_tray_visibility": 0.6587837837837838, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 83.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 195.0, "wrist_right_grasp_visibility": 0.9222222222222223, "wrist_right_tray_visibility": 0.43529411764705883, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 83.0, "wrist_right_tray_projected_count": 170.0, "wrist_right_tray_visible_count": 74.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.6790540540540541, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 201.0, "over_shoulder_right_grasp_visibility": 0.16666666666666666, "over_shoulder_right_tray_visibility": 0.7519685039370079, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 15.0, "over_shoulder_right_tray_projected_count": 254.0, "over_shoulder_right_tray_visible_count": 191.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0255.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0255.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..51cd9705034f460f38cc8c190277f02c189b26bd
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0255.debug.json
@@ -0,0 +1 @@
+{"frame_index": 255, "state": {"door_angle": 0.4062265157699585, "tray_height": 1.080137848854065, "tray_grasped_left": true, "left_arm_pose": [0.20760315656661987, 0.13459986448287964, 1.079278826713562, 0.20446676015853882, 0.6777676939964294, 0.6766036152839661, 0.2025633454322815], "right_arm_pose": [0.23677612841129303, -0.3483096957206726, 1.0847418308258057, -0.5681584477424622, 0.5665692687034607, 0.5616811513900757, 0.20176638662815094], "left_arm_joint_positions": [0.15069985389709473, -0.2954285144805908, -0.37342569231987, -2.82692289352417, 1.8899939060211182, 1.928837537765503, -0.20701372623443604], "right_arm_joint_positions": [-0.2896144390106201, 0.2586381435394287, 0.8985307216644287, -2.14966082572937, -1.4085007905960083, 1.516207218170166, -2.772953987121582], "pregrasp_goal_pose": [0.19778611713894573, 0.09498938479860723, 1.0743334728803244, 0.23658694465694988, 0.7251422020329267, 0.6141893868606567, 0.2024025728997979], "pregrasp_position_error": 0.041107431061531724, "pregrasp_orientation_error_deg": 9.707130638916261}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.32432432432432434, "tray_projected_count": 296, "tray_visible_count": 96}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.7837837837837838, "tray_projected_count": 296, "tray_visible_count": 232}, "wrist_right": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.4186046511627907, "tray_projected_count": 172, "tray_visible_count": 72}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7601351351351351, "tray_projected_count": 296, "tray_visible_count": 225}, "over_shoulder_right": {"grasp_visibility": 0.18888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 17, "tray_visibility": 0.803030303030303, "tray_projected_count": 264, "tray_visible_count": 212}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.080137848854065, "final_height": 1.3511669635772705, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.5453544154839236, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2897720591461349, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.470112656350417, "reliability": 1.0, "planner_score": 0.5342898082630048, "height_before": 1.080137848854065, "height_after": 1.1349505186080933}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0752417591335066, "reliability": 1.0, "planner_score": 0.23843568279335509, "height_before": 1.1349505186080933, "height_after": 1.3511669635772705}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0255.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0255.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a46838a6def83ca1eff0b270d0f65d36bffc8f2
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0255.json
@@ -0,0 +1 @@
+{"frame_index": 255, "time_norm": 0.7919254658385093, "door_angle": 0.4062265157699585, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23677612841129303, "right_arm_pose_y": -0.3483096957206726, "right_arm_pose_z": 1.0847418308258057, "right_arm_pose_qx": -0.5681584477424622, "right_arm_pose_qy": 0.5665692687034607, "right_arm_pose_qz": 0.5616811513900757, "right_arm_pose_qw": 0.20176638662815094, "left_arm_pose_x": 0.20760315656661987, "left_arm_pose_y": 0.13459986448287964, "left_arm_pose_z": 1.079278826713562, "left_arm_pose_qx": 0.20446676015853882, "left_arm_pose_qy": 0.6777676939964294, "left_arm_pose_qz": 0.6766036152839661, "left_arm_pose_qw": 0.2025633454322815, "tray_height": 1.080137848854065, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8532293825594728, "pregrasp_distance": 0.041107431061531724, "pregrasp_position_error": 0.041107431061531724, "pregrasp_orientation_error_deg": 9.707130638916261, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.080137848854065, "p_ext_final_height": 1.3511669635772705, "p_ext_total_length": 1.5453544154839236, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2897720591461349, "three_view_visibility": 0.9951714677640604, "three_view_whole_tray_visibility": 0.6676014117874584, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9966044237452667, "front_grasp_visibility": 0.8222222222222222, "front_tray_visibility": 0.32432432432432434, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 74.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 96.0, "overhead_grasp_visibility": 0.9333333333333333, "overhead_tray_visibility": 0.7837837837837838, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 84.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 232.0, "wrist_right_grasp_visibility": 0.8777777777777778, "wrist_right_tray_visibility": 0.4186046511627907, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 79.0, "wrist_right_tray_projected_count": 172.0, "wrist_right_tray_visible_count": 72.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.7601351351351351, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 225.0, "over_shoulder_right_grasp_visibility": 0.18888888888888888, "over_shoulder_right_tray_visibility": 0.803030303030303, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 17.0, "over_shoulder_right_tray_projected_count": 264.0, "over_shoulder_right_tray_visible_count": 212.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0256.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0256.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a08bd76f8281e8ed3bd182b33179f731997c7f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0256.debug.json
@@ -0,0 +1 @@
+{"frame_index": 256, "state": {"door_angle": 0.4069122076034546, "tray_height": 1.081917643547058, "tray_grasped_left": true, "left_arm_pose": [0.2027757167816162, 0.12464174628257751, 1.0810185670852661, 0.2044164538383484, 0.6777070760726929, 0.6766701936721802, 0.2025943547487259], "right_arm_pose": [0.23678545653820038, -0.34830600023269653, 1.0847538709640503, -0.5681589245796204, 0.5665490031242371, 0.5616928935050964, 0.2017892301082611], "left_arm_joint_positions": [0.132582426071167, -0.31394481658935547, -0.38951894640922546, -2.837817668914795, 1.8544666767120361, 1.9209675788879395, -0.19550907611846924], "right_arm_joint_positions": [-0.2896294593811035, 0.2586236000061035, 0.8985488414764404, -2.1496541500091553, -1.4085170030593872, 1.5161890983581543, -2.772998094558716], "pregrasp_goal_pose": [0.1929553411263059, 0.08507528825298635, 1.0759527247972691, 0.2365651781887704, 0.7246529571761868, 0.6147399371839253, 0.20250880908105331], "pregrasp_position_error": 0.041080495823512996, "pregrasp_orientation_error_deg": 9.639999436435481}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.375, "tray_projected_count": 296, "tray_visible_count": 111}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7094594594594594, "tray_projected_count": 296, "tray_visible_count": 210}, "wrist_right": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.4482758620689655, "tray_projected_count": 174, "tray_visible_count": 78}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7297297297297297, "tray_projected_count": 296, "tray_visible_count": 216}, "over_shoulder_right": {"grasp_visibility": 0.24444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 22, "tray_visibility": 0.7765151515151515, "tray_projected_count": 264, "tray_visible_count": 205}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.081917643547058, "final_height": 1.3510255813598633, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.580547094318561, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2805893001394253, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5052934047841938, "reliability": 1.0, "planner_score": 0.5098062437259793, "height_before": 1.081917643547058, "height_after": 1.1349602937698364}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0752536895343674, "reliability": 1.0, "planner_score": 0.23843188997915474, "height_before": 1.1349602937698364, "height_after": 1.3510255813598633}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0256.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0256.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c4fc2f510c773810ab4395ba63f7200193fb55
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0256.json
@@ -0,0 +1 @@
+{"frame_index": 256, "time_norm": 0.7950310559006211, "door_angle": 0.4069122076034546, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23678545653820038, "right_arm_pose_y": -0.34830600023269653, "right_arm_pose_z": 1.0847538709640503, "right_arm_pose_qx": -0.5681589245796204, "right_arm_pose_qy": 0.5665490031242371, "right_arm_pose_qz": 0.5616928935050964, "right_arm_pose_qw": 0.2017892301082611, "left_arm_pose_x": 0.2027757167816162, "left_arm_pose_y": 0.12464174628257751, "left_arm_pose_z": 1.0810185670852661, "left_arm_pose_qx": 0.2044164538383484, "left_arm_pose_qy": 0.6777070760726929, "left_arm_pose_qz": 0.6766701936721802, "left_arm_pose_qw": 0.2025943547487259, "tray_height": 1.081917643547058, "tray_grasped_left": 1.0, "pregrasp_progress": 0.853325555183964, "pregrasp_distance": 0.041080495823512996, "pregrasp_position_error": 0.041080495823512996, "pregrasp_orientation_error_deg": 9.639999436435481, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.081917643547058, "p_ext_final_height": 1.3510255813598633, "p_ext_total_length": 1.580547094318561, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2805893001394253, "three_view_visibility": 0.9989026063100137, "three_view_whole_tray_visibility": 0.7082228116710876, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9948795935515413, "front_grasp_visibility": 0.9444444444444444, "front_tray_visibility": 0.375, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 85.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 111.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.7094594594594594, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 210.0, "wrist_right_grasp_visibility": 0.9111111111111111, "wrist_right_tray_visibility": 0.4482758620689655, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 82.0, "wrist_right_tray_projected_count": 174.0, "wrist_right_tray_visible_count": 78.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.7297297297297297, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 216.0, "over_shoulder_right_grasp_visibility": 0.24444444444444444, "over_shoulder_right_tray_visibility": 0.7765151515151515, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 22.0, "over_shoulder_right_tray_projected_count": 264.0, "over_shoulder_right_tray_visible_count": 205.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0257.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0257.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..40b6fd45fdab9051b3866ae3f1b6c03b83f51415
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0257.debug.json
@@ -0,0 +1 @@
+{"frame_index": 257, "state": {"door_angle": 0.4002190828323364, "tray_height": 1.0834267139434814, "tray_grasped_left": true, "left_arm_pose": [0.19811397790908813, 0.11523385345935822, 1.0825910568237305, 0.20442728698253632, 0.6776697039604187, 0.6767252683639526, 0.20252467691898346], "right_arm_pose": [0.23675817251205444, -0.34829050302505493, 1.084702968597412, -0.5681810975074768, 0.5665693879127502, 0.5616453289985657, 0.2018021196126938], "left_arm_joint_positions": [0.11502456665039062, -0.33067989349365234, -0.4049529731273651, -2.8476004600524902, 1.820129632949829, 1.9130642414093018, -0.18429028987884521], "right_arm_joint_positions": [-0.28963494300842285, 0.2586803436279297, 0.8985040187835693, -2.149616241455078, -1.4084941148757935, 1.5161802768707275, -2.7729690074920654], "pregrasp_goal_pose": [0.1882649396314402, 0.0756427690241479, 1.0772138942689182, 0.23606758174080394, 0.7243912131933572, 0.6150826086490374, 0.20298485568337432], "pregrasp_position_error": 0.04115059414991965, "pregrasp_orientation_error_deg": 9.57926846732852}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.375, "tray_projected_count": 296, "tray_visible_count": 111}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.7162162162162162, "tray_projected_count": 296, "tray_visible_count": 212}, "wrist_right": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.39655172413793105, "tray_projected_count": 174, "tray_visible_count": 69}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.7804054054054054, "tray_projected_count": 296, "tray_visible_count": 231}, "over_shoulder_right": {"grasp_visibility": 0.2222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 20, "tray_visibility": 0.7490774907749077, "tray_projected_count": 271, "tray_visible_count": 203}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0834267139434814, "final_height": 1.351317286491394, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6164488455841366, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.27164414025706907, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5412700919019645, "reliability": 1.0, "planner_score": 0.4859286600537139, "height_before": 1.0834267139434814, "height_after": 1.1352022886276245}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.075178753682172, "reliability": 1.0, "planner_score": 0.2384557139651369, "height_before": 1.1352022886276245, "height_after": 1.351317286491394}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0257.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0257.json
new file mode 100644
index 0000000000000000000000000000000000000000..373c5cb2c1d96f47d3af1180418ed72d86aa0b1b
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0257.json
@@ -0,0 +1 @@
+{"frame_index": 257, "time_norm": 0.7981366459627329, "door_angle": 0.4002190828323364, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23675817251205444, "right_arm_pose_y": -0.34829050302505493, "right_arm_pose_z": 1.084702968597412, "right_arm_pose_qx": -0.5681810975074768, "right_arm_pose_qy": 0.5665693879127502, "right_arm_pose_qz": 0.5616453289985657, "right_arm_pose_qw": 0.2018021196126938, "left_arm_pose_x": 0.19811397790908813, "left_arm_pose_y": 0.11523385345935822, "left_arm_pose_z": 1.0825910568237305, "left_arm_pose_qx": 0.20442728698253632, "left_arm_pose_qy": 0.6776697039604187, "left_arm_pose_qz": 0.6767252683639526, "left_arm_pose_qw": 0.20252467691898346, "tray_height": 1.0834267139434814, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8530752703269341, "pregrasp_distance": 0.04115059414991965, "pregrasp_position_error": 0.04115059414991965, "pregrasp_orientation_error_deg": 9.57926846732852, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0834267139434814, "p_ext_final_height": 1.351317286491394, "p_ext_total_length": 1.6164488455841366, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.27164414025706907, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.680868700265252, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9950097966501629, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.375, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 111.0, "overhead_grasp_visibility": 0.9333333333333333, "overhead_tray_visibility": 0.7162162162162162, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 84.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 212.0, "wrist_right_grasp_visibility": 0.9, "wrist_right_tray_visibility": 0.39655172413793105, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 81.0, "wrist_right_tray_projected_count": 174.0, "wrist_right_tray_visible_count": 69.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.9444444444444444, "over_shoulder_left_tray_visibility": 0.7804054054054054, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 85.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 231.0, "over_shoulder_right_grasp_visibility": 0.2222222222222222, "over_shoulder_right_tray_visibility": 0.7490774907749077, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 20.0, "over_shoulder_right_tray_projected_count": 271.0, "over_shoulder_right_tray_visible_count": 203.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0258.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0258.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2b2fe63e504978dbea1b33b58c1c8da407ffe9e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0258.debug.json
@@ -0,0 +1 @@
+{"frame_index": 258, "state": {"door_angle": 0.3947674036026001, "tray_height": 1.084862232208252, "tray_grasped_left": true, "left_arm_pose": [0.1939994841814041, 0.1068975031375885, 1.0840181112289429, 0.20439757406711578, 0.6776140332221985, 0.6767894625663757, 0.20252643525600433], "right_arm_pose": [0.23676379024982452, -0.34831735491752625, 1.0847777128219604, -0.5681503415107727, 0.5665756464004517, 0.5616856813430786, 0.20175853371620178], "left_arm_joint_positions": [0.0992119312286377, -0.3449711799621582, -0.41882607340812683, -2.855109214782715, 1.7896151542663574, 1.9056596755981445, -0.17423546314239502], "right_arm_joint_positions": [-0.28962278366088867, 0.258620023727417, 0.8985588550567627, -2.1495070457458496, -1.40849769115448, 1.5162196159362793, -2.772977352142334], "pregrasp_goal_pose": [0.18419037406628716, 0.06737142074812832, 1.0787064416206482, 0.23623656052398076, 0.724356860552534, 0.6151311929319799, 0.20276351132379677], "pregrasp_position_error": 0.041069984956614784, "pregrasp_orientation_error_deg": 9.590497989773546}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.40202702702702703, "tray_projected_count": 296, "tray_visible_count": 119}, "overhead": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.5844594594594594, "tray_projected_count": 296, "tray_visible_count": 173}, "wrist_right": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.44, "tray_projected_count": 175, "tray_visible_count": 77}, "wrist_left": {"grasp_visibility": 0.7738095238095238, "grasp_projected_count": 84, "grasp_visible_count": 65, "tray_visibility": 0.15584415584415584, "tray_projected_count": 154, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7804054054054054, "tray_projected_count": 296, "tray_visible_count": 231}, "over_shoulder_right": {"grasp_visibility": 0.23333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 21, "tray_visibility": 0.8178571428571428, "tray_projected_count": 280, "tray_visible_count": 229}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.084862232208252, "final_height": 1.351099967956543, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.649886800007208, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2636876242099127, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.574802894568421, "reliability": 1.0, "planner_score": 0.4646811258802523, "height_before": 1.084862232208252, "height_after": 1.1351789236068726}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750839054387868, "reliability": 1.0, "planner_score": 0.23848587201284824, "height_before": 1.1351789236068726, "height_after": 1.351099967956543}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0258.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0258.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1bbcd1a2bad3314cc215a36c7bbc8848a48836b
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0258.json
@@ -0,0 +1 @@
+{"frame_index": 258, "time_norm": 0.8012422360248447, "door_angle": 0.3947674036026001, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23676379024982452, "right_arm_pose_y": -0.34831735491752625, "right_arm_pose_z": 1.0847777128219604, "right_arm_pose_qx": -0.5681503415107727, "right_arm_pose_qy": 0.5665756464004517, "right_arm_pose_qz": 0.5616856813430786, "right_arm_pose_qw": 0.20175853371620178, "left_arm_pose_x": 0.1939994841814041, "left_arm_pose_y": 0.1068975031375885, "left_arm_pose_z": 1.0840181112289429, "left_arm_pose_qx": 0.20439757406711578, "left_arm_pose_qy": 0.6776140332221985, "left_arm_pose_qz": 0.6767894625663757, "left_arm_pose_qw": 0.20252643525600433, "tray_height": 1.084862232208252, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533630827439289, "pregrasp_distance": 0.041069984956614784, "pregrasp_position_error": 0.041069984956614784, "pregrasp_orientation_error_deg": 9.590497989773546, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.084862232208252, "p_ext_final_height": 1.351099967956543, "p_ext_total_length": 1.649886800007208, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2636876242099127, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7173218673218673, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9953017144940567, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.40202702702702703, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 119.0, "overhead_grasp_visibility": 0.9555555555555556, "overhead_tray_visibility": 0.5844594594594594, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 86.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 173.0, "wrist_right_grasp_visibility": 0.8888888888888888, "wrist_right_tray_visibility": 0.44, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 80.0, "wrist_right_tray_projected_count": 175.0, "wrist_right_tray_visible_count": 77.0, "wrist_left_grasp_visibility": 0.7738095238095238, "wrist_left_tray_visibility": 0.15584415584415584, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 65.0, "wrist_left_tray_projected_count": 154.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.7804054054054054, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 231.0, "over_shoulder_right_grasp_visibility": 0.23333333333333334, "over_shoulder_right_tray_visibility": 0.8178571428571428, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 21.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 229.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0259.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0259.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d833827ca0227090d23a5a962d4508f850e12e56
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0259.debug.json
@@ -0,0 +1 @@
+{"frame_index": 259, "state": {"door_angle": 0.3936671018600464, "tray_height": 1.0858314037322998, "tray_grasped_left": true, "left_arm_pose": [0.1906190663576126, 0.10023129731416702, 1.085131287574768, 0.20438875257968903, 0.677605926990509, 0.6768190860748291, 0.2024632692337036], "right_arm_pose": [0.2367738038301468, -0.34831398725509644, 1.0846452713012695, -0.5682256817817688, 0.5665425062179565, 0.5616256594657898, 0.20180673897266388], "left_arm_joint_positions": [0.08623290061950684, -0.3562920093536377, -0.43009302020072937, -2.860832691192627, 1.7646899223327637, 1.8994736671447754, -0.1659642457962036], "right_arm_joint_positions": [-0.289642333984375, 0.2587583065032959, 0.8985371589660645, -2.149740219116211, -1.4085510969161987, 1.5161685943603516, -2.772982597351074], "pregrasp_goal_pose": [0.18081061569660076, 0.06062543658069679, 1.0799640758191036, 0.2366034640543479, 0.724846722254566, 0.6145757311660294, 0.20226888217428549], "pregrasp_position_error": 0.04112821399157056, "pregrasp_orientation_error_deg": 9.688247159251224}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.39864864864864863, "tray_projected_count": 296, "tray_visible_count": 118}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.7432432432432432, "tray_projected_count": 296, "tray_visible_count": 220}, "wrist_right": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.4147727272727273, "tray_projected_count": 176, "tray_visible_count": 73}, "wrist_left": {"grasp_visibility": 0.7976190476190477, "grasp_projected_count": 84, "grasp_visible_count": 67, "tray_visibility": 0.1095890410958904, "tray_projected_count": 146, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.7331081081081081, "tray_projected_count": 296, "tray_visible_count": 217}, "over_shoulder_right": {"grasp_visibility": 0.25555555555555554, "grasp_projected_count": 90, "grasp_visible_count": 23, "tray_visibility": 0.7857142857142857, "tray_projected_count": 280, "tray_visible_count": 220}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0858314037322998, "final_height": 1.3511147499084473, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6778992130994033, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.25728846507877606, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6029184528486264, "reliability": 1.0, "planner_score": 0.447583901048323, "height_before": 1.0858314037322998, "height_after": 1.1348670721054077}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749807602507768, "reliability": 1.0, "planner_score": 0.2385186724950798, "height_before": 1.1348670721054077, "height_after": 1.3511147499084473}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0259.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0259.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceb54fc8b15fdc156f0d38c7541e75a02eb83a06
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0259.json
@@ -0,0 +1 @@
+{"frame_index": 259, "time_norm": 0.8043478260869565, "door_angle": 0.3936671018600464, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2367738038301468, "right_arm_pose_y": -0.34831398725509644, "right_arm_pose_z": 1.0846452713012695, "right_arm_pose_qx": -0.5682256817817688, "right_arm_pose_qy": 0.5665425062179565, "right_arm_pose_qz": 0.5616256594657898, "right_arm_pose_qw": 0.20180673897266388, "left_arm_pose_x": 0.1906190663576126, "left_arm_pose_y": 0.10023129731416702, "left_arm_pose_z": 1.085131287574768, "left_arm_pose_qx": 0.20438875257968903, "left_arm_pose_qy": 0.677605926990509, "left_arm_pose_qz": 0.6768190860748291, "left_arm_pose_qw": 0.2024632692337036, "tray_height": 1.0858314037322998, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8531551841165675, "pregrasp_distance": 0.04112821399157056, "pregrasp_position_error": 0.04112821399157056, "pregrasp_orientation_error_deg": 9.688247159251224, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0858314037322998, "p_ext_final_height": 1.3511147499084473, "p_ext_total_length": 1.6778992130994033, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.25728846507877606, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.6866401543199488, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9953985593463123, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.39864864864864863, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 118.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.7432432432432432, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 220.0, "wrist_right_grasp_visibility": 0.8666666666666667, "wrist_right_tray_visibility": 0.4147727272727273, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 78.0, "wrist_right_tray_projected_count": 176.0, "wrist_right_tray_visible_count": 73.0, "wrist_left_grasp_visibility": 0.7976190476190477, "wrist_left_tray_visibility": 0.1095890410958904, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 67.0, "wrist_left_tray_projected_count": 146.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9222222222222223, "over_shoulder_left_tray_visibility": 0.7331081081081081, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 83.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 217.0, "over_shoulder_right_grasp_visibility": 0.25555555555555554, "over_shoulder_right_tray_visibility": 0.7857142857142857, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 23.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 220.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0260.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0260.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..37901378ef3e0680633bdada43c33dde2688e01e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0260.debug.json
@@ -0,0 +1 @@
+{"frame_index": 260, "state": {"door_angle": 0.3928874731063843, "tray_height": 1.0867561101913452, "tray_grasped_left": true, "left_arm_pose": [0.18808330595493317, 0.09533391892910004, 1.0859520435333252, 0.20438215136528015, 0.677588164806366, 0.6768556237220764, 0.20240750908851624], "right_arm_pose": [0.2367638796567917, -0.34833377599716187, 1.0846538543701172, -0.5682144165039062, 0.5665631890296936, 0.5616228580474854, 0.20178763568401337], "left_arm_joint_positions": [0.07659339904785156, -0.3641948699951172, -0.438446968793869, -2.864898204803467, 1.7463150024414062, 1.8947951793670654, -0.15980207920074463], "right_arm_joint_positions": [-0.28962159156799316, 0.25885558128356934, 0.8985481262207031, -2.149510145187378, -1.4085129499435425, 1.5161921977996826, -2.7729451656341553], "pregrasp_goal_pose": [0.17827222687708982, 0.05572782525256175, 1.0806512164455713, 0.23616793676094974, 0.7245424387301067, 0.6149673265729153, 0.2026774466310131], "pregrasp_position_error": 0.041146065386628246, "pregrasp_orientation_error_deg": 9.621197629784684}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4222972972972973, "tray_projected_count": 296, "tray_visible_count": 125}, "overhead": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.6722972972972973, "tray_projected_count": 296, "tray_visible_count": 199}, "wrist_right": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.4463276836158192, "tray_projected_count": 177, "tray_visible_count": 79}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.1095890410958904, "tray_projected_count": 146, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.7297297297297297, "tray_projected_count": 296, "tray_visible_count": 216}, "over_shoulder_right": {"grasp_visibility": 0.2111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 19, "tray_visibility": 0.7428571428571429, "tray_projected_count": 280, "tray_visible_count": 208}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0867561101913452, "final_height": 1.3514400720596313, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.699177888118716, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2525940567975272, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6241903141452104, "reliability": 1.0, "planner_score": 0.43506764588861613, "height_before": 1.0867561101913452, "height_after": 1.1351580619812012}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749875739735055, "reliability": 1.0, "planner_score": 0.23851650557145637, "height_before": 1.1351580619812012, "height_after": 1.3514400720596313}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0260.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0260.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7ec5ccf178642da1253a6cd505197c803c3f766
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0260.json
@@ -0,0 +1 @@
+{"frame_index": 260, "time_norm": 0.8074534161490683, "door_angle": 0.3928874731063843, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2367638796567917, "right_arm_pose_y": -0.34833377599716187, "right_arm_pose_z": 1.0846538543701172, "right_arm_pose_qx": -0.5682144165039062, "right_arm_pose_qy": 0.5665631890296936, "right_arm_pose_qz": 0.5616228580474854, "right_arm_pose_qw": 0.20178763568401337, "left_arm_pose_x": 0.18808330595493317, "left_arm_pose_y": 0.09533391892910004, "left_arm_pose_z": 1.0859520435333252, "left_arm_pose_qx": 0.20438215136528015, "left_arm_pose_qy": 0.677588164806366, "left_arm_pose_qz": 0.6768556237220764, "left_arm_pose_qw": 0.20240750908851624, "tray_height": 1.0867561101913452, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8530914457306704, "pregrasp_distance": 0.041146065386628246, "pregrasp_position_error": 0.041146065386628246, "pregrasp_orientation_error_deg": 9.621197629784684, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0867561101913452, "p_ext_final_height": 1.3514400720596313, "p_ext_total_length": 1.699177888118716, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2525940567975272, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7151949372172266, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.993513648653622, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.4222972972972973, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 125.0, "overhead_grasp_visibility": 0.8666666666666667, "overhead_tray_visibility": 0.6722972972972973, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 78.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 199.0, "wrist_right_grasp_visibility": 0.9111111111111111, "wrist_right_tray_visibility": 0.4463276836158192, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 82.0, "wrist_right_tray_projected_count": 177.0, "wrist_right_tray_visible_count": 79.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.1095890410958904, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 146.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9333333333333333, "over_shoulder_left_tray_visibility": 0.7297297297297297, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 84.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 216.0, "over_shoulder_right_grasp_visibility": 0.2111111111111111, "over_shoulder_right_tray_visibility": 0.7428571428571429, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 19.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 208.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0266.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0266.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ff9a96438bbe84efdbd824e88d0781321852da2
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0266.debug.json
@@ -0,0 +1 @@
+{"frame_index": 266, "state": {"door_angle": 0.3933614492416382, "tray_height": 1.089087963104248, "tray_grasped_left": true, "left_arm_pose": [0.18512080609798431, 0.08996163308620453, 1.0884953737258911, 0.2045762836933136, 0.6777075529098511, 0.6768015027046204, 0.20199215412139893], "right_arm_pose": [0.23676797747612, -0.34833192825317383, 1.084605097770691, -0.5682454705238342, 0.5665421485900879, 0.5615997314453125, 0.20182423293590546], "left_arm_joint_positions": [0.06543588638305664, -0.37876391410827637, -0.4456782042980194, -2.868934154510498, 1.7245118618011475, 1.8933134078979492, -0.14710867404937744], "right_arm_joint_positions": [-0.28962111473083496, 0.25889039039611816, 0.898550271987915, -2.1496176719665527, -1.4085012674331665, 1.5161845684051514, -2.772952079772949], "pregrasp_goal_pose": [0.17533692710576373, 0.050417413614793655, 1.0831741959875256, 0.2364114501902986, 0.7247895497304138, 0.6147426560665302, 0.2021910028482271], "pregrasp_position_error": 0.041082654664235156, "pregrasp_orientation_error_deg": 9.64593796811872}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4391891891891892, "tray_projected_count": 296, "tray_visible_count": 130}, "overhead": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}, "wrist_right": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.4101123595505618, "tray_projected_count": 178, "tray_visible_count": 73}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.6858108108108109, "tray_projected_count": 296, "tray_visible_count": 203}, "over_shoulder_right": {"grasp_visibility": 0.2, "grasp_projected_count": 90, "grasp_visible_count": 18, "tray_visibility": 0.6666666666666666, "tray_projected_count": 285, "tray_visible_count": 190}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.089087963104248, "final_height": 1.3512123823165894, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.7241601342303463, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.24727311104169147, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6489091590839201, "reliability": 1.0, "planner_score": 0.42096220986826516, "height_before": 1.089087963104248, "height_after": 1.1350739002227783}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0752509751464263, "reliability": 1.0, "planner_score": 0.23843275290957885, "height_before": 1.1350739002227783, "height_after": 1.3512123823165894}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0266.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0266.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d666901eb7064bde8e671d26d0290536b0bc6ea
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0266.json
@@ -0,0 +1 @@
+{"frame_index": 266, "time_norm": 0.8260869565217391, "door_angle": 0.3933614492416382, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23676797747612, "right_arm_pose_y": -0.34833192825317383, "right_arm_pose_z": 1.084605097770691, "right_arm_pose_qx": -0.5682454705238342, "right_arm_pose_qy": 0.5665421485900879, "right_arm_pose_qz": 0.5615997314453125, "right_arm_pose_qw": 0.20182423293590546, "left_arm_pose_x": 0.18512080609798431, "left_arm_pose_y": 0.08996163308620453, "left_arm_pose_z": 1.0884953737258911, "left_arm_pose_qx": 0.2045762836933136, "left_arm_pose_qy": 0.6777075529098511, "left_arm_pose_qz": 0.6768015027046204, "left_arm_pose_qw": 0.20199215412139893, "tray_height": 1.089087963104248, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533178403350589, "pregrasp_distance": 0.041082654664235156, "pregrasp_position_error": 0.041082654664235156, "pregrasp_orientation_error_deg": 9.64593796811872, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.089087963104248, "p_ext_final_height": 1.3512123823165894, "p_ext_total_length": 1.7241601342303463, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.24727311104169147, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.6895425027447499, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9885761165637449, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.4391891891891892, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 130.0, "overhead_grasp_visibility": 0.7555555555555555, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 68.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.9, "wrist_right_tray_visibility": 0.4101123595505618, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 81.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 73.0, "wrist_left_grasp_visibility": 0.8452380952380952, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 71.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.7888888888888889, "over_shoulder_left_tray_visibility": 0.6858108108108109, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 71.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 203.0, "over_shoulder_right_grasp_visibility": 0.2, "over_shoulder_right_tray_visibility": 0.6666666666666666, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 18.0, "over_shoulder_right_tray_projected_count": 285.0, "over_shoulder_right_tray_visible_count": 190.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0267.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0267.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..03de9b53431b1e0a99f8317353b0444e922eaea6
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0267.debug.json
@@ -0,0 +1 @@
+{"frame_index": 267, "state": {"door_angle": 0.39326012134552, "tray_height": 1.0923484563827515, "tray_grasped_left": true, "left_arm_pose": [0.1851273775100708, 0.08997403085231781, 1.0917147397994995, 0.20460224151611328, 0.6777282357215881, 0.6767900586128235, 0.20193471014499664], "right_arm_pose": [0.2367691844701767, -0.3483400344848633, 1.084653377532959, -0.5682337880134583, 0.5665393471717834, 0.5616248846054077, 0.20179492235183716], "left_arm_joint_positions": [0.0644063949584961, -0.38889002799987793, -0.4427041709423065, -2.86837100982666, 1.7219722270965576, 1.8992760181427002, -0.13737308979034424], "right_arm_joint_positions": [-0.28963732719421387, 0.25881171226501465, 0.8985729217529297, -2.149465799331665, -1.408558964729309, 1.5161974430084229, -2.772952079772949], "pregrasp_goal_pose": [0.1753289342367408, 0.05035058980202406, 1.0864138678954727, 0.23645580527816626, 0.7246126056360874, 0.6149828345336369, 0.20204290913691464], "pregrasp_position_error": 0.041159759646888984, "pregrasp_orientation_error_deg": 9.612766086167497}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4189189189189189, "tray_projected_count": 296, "tray_visible_count": 124}, "overhead": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.6452702702702703, "tray_projected_count": 296, "tray_visible_count": 191}, "wrist_right": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.30337078651685395, "tray_projected_count": 178, "tray_visible_count": 54}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}, "over_shoulder_right": {"grasp_visibility": 0.18888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 17, "tray_visibility": 0.6571428571428571, "tray_projected_count": 280, "tray_visible_count": 184}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0923484563827515, "final_height": 1.3511040210723877, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.724864559498286, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.24711669049158902, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6497038885056438, "reliability": 1.0, "planner_score": 0.42051637804893593, "height_before": 1.0923484563827515, "height_after": 1.1350445747375488}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0751606709926422, "reliability": 1.0, "planner_score": 0.2384614632619681, "height_before": 1.1350445747375488, "height_after": 1.3511040210723877}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0267.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0267.json
new file mode 100644
index 0000000000000000000000000000000000000000..c37b73653caefa677d3a40642e4e6f554dd707d0
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0267.json
@@ -0,0 +1 @@
+{"frame_index": 267, "time_norm": 0.8291925465838509, "door_angle": 0.39326012134552, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2367691844701767, "right_arm_pose_y": -0.3483400344848633, "right_arm_pose_z": 1.084653377532959, "right_arm_pose_qx": -0.5682337880134583, "right_arm_pose_qy": 0.5665393471717834, "right_arm_pose_qz": 0.5616248846054077, "right_arm_pose_qw": 0.20179492235183716, "left_arm_pose_x": 0.1851273775100708, "left_arm_pose_y": 0.08997403085231781, "left_arm_pose_z": 1.0917147397994995, "left_arm_pose_qx": 0.20460224151611328, "left_arm_pose_qy": 0.6777282357215881, "left_arm_pose_qz": 0.6767900586128235, "left_arm_pose_qw": 0.20193471014499664, "tray_height": 1.0923484563827515, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8530425453133752, "pregrasp_distance": 0.041159759646888984, "pregrasp_position_error": 0.041159759646888984, "pregrasp_orientation_error_deg": 9.612766086167497, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0923484563827515, "p_ext_final_height": 1.3511040210723877, "p_ext_total_length": 1.724864559498286, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.24711669049158902, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.620112593146301, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9837666812995315, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.4189189189189189, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 124.0, "overhead_grasp_visibility": 0.6444444444444445, "overhead_tray_visibility": 0.6452702702702703, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 58.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 191.0, "wrist_right_grasp_visibility": 0.8111111111111111, "wrist_right_tray_visibility": 0.30337078651685395, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 73.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 54.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.8666666666666667, "over_shoulder_left_tray_visibility": 0.6486486486486487, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 78.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 192.0, "over_shoulder_right_grasp_visibility": 0.18888888888888888, "over_shoulder_right_tray_visibility": 0.6571428571428571, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 17.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 184.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0268.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0268.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..75727a913a57c89d08497776a59990257c43197a
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0268.debug.json
@@ -0,0 +1 @@
+{"frame_index": 268, "state": {"door_angle": 0.39324676990509033, "tray_height": 1.0976767539978027, "tray_grasped_left": true, "left_arm_pose": [0.1851024031639099, 0.08997713774442673, 1.0969412326812744, 0.2045903503894806, 0.6777235269546509, 0.6768075227737427, 0.2019040286540985], "right_arm_pose": [0.2367929220199585, -0.3483143448829651, 1.0846161842346191, -0.5682390928268433, 0.566514790058136, 0.5616298913955688, 0.20183484256267548], "left_arm_joint_positions": [0.06279659271240234, -0.4048638343811035, -0.43787309527397156, -2.8674049377441406, 1.7179183959960938, 1.9085471630096436, -0.1219409704208374], "right_arm_joint_positions": [-0.2896261215209961, 0.25882673263549805, 0.8985471725463867, -2.149724245071411, -1.4085313081741333, 1.51619553565979, -2.772979736328125], "pregrasp_goal_pose": [0.17531888012075672, 0.05037313768224592, 1.0917466417689083, 0.236380877169139, 0.7246851164355184, 0.6149250848048331, 0.2020462892590615], "pregrasp_position_error": 0.04112393364949374, "pregrasp_orientation_error_deg": 9.621341724869245}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.42905405405405406, "tray_projected_count": 296, "tray_visible_count": 127}, "overhead": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}, "wrist_right": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.20786516853932585, "tray_projected_count": 178, "tray_visible_count": 37}, "wrist_left": {"grasp_visibility": 0.7857142857142857, "grasp_projected_count": 84, "grasp_visible_count": 66, "tray_visibility": 0.046153846153846156, "tray_projected_count": 130, "tray_visible_count": 6}, "over_shoulder_left": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.706081081081081, "tray_projected_count": 296, "tray_visible_count": 209}, "over_shoulder_right": {"grasp_visibility": 0.17777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 16, "tray_visibility": 0.6571428571428571, "tray_projected_count": 280, "tray_visible_count": 184}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0976767539978027, "final_height": 1.3514457941055298, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.726800964057736, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.24669567773905093, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6517994187559524, "reliability": 1.0, "planner_score": 0.41934307821449357, "height_before": 1.0976767539978027, "height_after": 1.1351196765899658}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750015453017836, "reliability": 1.0, "planner_score": 0.23851206242297554, "height_before": 1.1351196765899658, "height_after": 1.3514457941055298}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0268.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0268.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccdad6e3fe27ed5b6af00d5a18f138ffdf6895df
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0268.json
@@ -0,0 +1 @@
+{"frame_index": 268, "time_norm": 0.8322981366459627, "door_angle": 0.39324676990509033, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2367929220199585, "right_arm_pose_y": -0.3483143448829651, "right_arm_pose_z": 1.0846161842346191, "right_arm_pose_qx": -0.5682390928268433, "right_arm_pose_qy": 0.566514790058136, "right_arm_pose_qz": 0.5616298913955688, "right_arm_pose_qw": 0.20183484256267548, "left_arm_pose_x": 0.1851024031639099, "left_arm_pose_y": 0.08997713774442673, "left_arm_pose_z": 1.0969412326812744, "left_arm_pose_qx": 0.2045903503894806, "left_arm_pose_qy": 0.6777235269546509, "left_arm_pose_qz": 0.6768075227737427, "left_arm_pose_qw": 0.2019040286540985, "tray_height": 1.0976767539978027, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8531704633627083, "pregrasp_distance": 0.04112393364949374, "pregrasp_position_error": 0.04112393364949374, "pregrasp_orientation_error_deg": 9.621341724869245, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0976767539978027, "p_ext_final_height": 1.3514457941055298, "p_ext_total_length": 1.726800964057736, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.24669567773905093, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.5686076525964167, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9861945895711162, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.42905405405405406, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 127.0, "overhead_grasp_visibility": 0.6, "overhead_tray_visibility": 0.6824324324324325, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 54.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 202.0, "wrist_right_grasp_visibility": 0.7555555555555555, "wrist_right_tray_visibility": 0.20786516853932585, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 68.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 37.0, "wrist_left_grasp_visibility": 0.7857142857142857, "wrist_left_tray_visibility": 0.046153846153846156, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 66.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 6.0, "over_shoulder_left_grasp_visibility": 0.8666666666666667, "over_shoulder_left_tray_visibility": 0.706081081081081, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 78.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 209.0, "over_shoulder_right_grasp_visibility": 0.17777777777777778, "over_shoulder_right_tray_visibility": 0.6571428571428571, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 16.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 184.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0269.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0269.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..966314b4b2ef739679142b215a33e49a86dac41e
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0269.debug.json
@@ -0,0 +1 @@
+{"frame_index": 269, "state": {"door_angle": 0.3929508924484253, "tray_height": 1.105220079421997, "tray_grasped_left": true, "left_arm_pose": [0.185191810131073, 0.08994819223880768, 1.1044456958770752, 0.2045266032218933, 0.6777322292327881, 0.6768160462379456, 0.20191091299057007], "right_arm_pose": [0.23677374422550201, -0.34832900762557983, 1.084655523300171, -0.5682350993156433, 0.5665047764778137, 0.5616520643234253, 0.20181246101856232], "left_arm_joint_positions": [0.060575246810913086, -0.4265897274017334, -0.4309506118297577, -2.865236759185791, 1.7122347354888916, 1.921053171157837, -0.10007679462432861], "right_arm_joint_positions": [-0.2896268367767334, 0.2587282657623291, 0.8985443115234375, -2.149658203125, -1.4085768461227417, 1.5161950588226318, -2.772966146469116], "pregrasp_goal_pose": [0.17542223969653434, 0.0503791237041737, 1.0993624720483297, 0.2364367357767204, 0.7248208870091928, 0.6147939487107077, 0.20189292300413092], "pregrasp_position_error": 0.04107304293167355, "pregrasp_orientation_error_deg": 9.646487850096737}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.3581081081081081, "tray_projected_count": 296, "tray_visible_count": 106}, "overhead": {"grasp_visibility": 0.5888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 53, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}, "wrist_right": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.11797752808988764, "tray_projected_count": 178, "tray_visible_count": 21}, "wrist_left": {"grasp_visibility": 0.75, "grasp_projected_count": 84, "grasp_visible_count": 63, "tray_visibility": 0.046153846153846156, "tray_projected_count": 130, "tray_visible_count": 6}, "over_shoulder_left": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "over_shoulder_right": {"grasp_visibility": 0.17777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 16, "tray_visibility": 0.6571428571428571, "tray_projected_count": 280, "tray_visible_count": 184}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.105220079421997, "final_height": 1.3511782884597778, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.73113387148175, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.24579200213385072, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6561077496369592, "reliability": 1.0, "planner_score": 0.4169410922085184, "height_before": 1.105220079421997, "height_after": 1.1350406408309937}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750261218447907, "reliability": 1.0, "planner_score": 0.2385042468150835, "height_before": 1.1350406408309937, "height_after": 1.3511782884597778}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0269.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0269.json
new file mode 100644
index 0000000000000000000000000000000000000000..2196ec2a646d0c39b238645faccfc8a3a7941d32
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0269.json
@@ -0,0 +1 @@
+{"frame_index": 269, "time_norm": 0.8354037267080745, "door_angle": 0.3929508924484253, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23677374422550201, "right_arm_pose_y": -0.34832900762557983, "right_arm_pose_z": 1.084655523300171, "right_arm_pose_qx": -0.5682350993156433, "right_arm_pose_qy": 0.5665047764778137, "right_arm_pose_qz": 0.5616520643234253, "right_arm_pose_qw": 0.20181246101856232, "left_arm_pose_x": 0.185191810131073, "left_arm_pose_y": 0.08994819223880768, "left_arm_pose_z": 1.1044456958770752, "left_arm_pose_qx": 0.2045266032218933, "left_arm_pose_qy": 0.6777322292327881, "left_arm_pose_qz": 0.6768160462379456, "left_arm_pose_qw": 0.20191091299057007, "tray_height": 1.105220079421997, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533521616156049, "pregrasp_distance": 0.04107304293167355, "pregrasp_position_error": 0.04107304293167355, "pregrasp_orientation_error_deg": 9.646487850096737, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.105220079421997, "p_ext_final_height": 1.3511782884597778, "p_ext_total_length": 1.73113387148175, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.24579200213385072, "three_view_visibility": 0.9964506172839506, "three_view_whole_tray_visibility": 0.45996753019224923, "full_view_visibility": 0.9997867059560703, "full_view_whole_tray_visibility": 0.9800002584227516, "front_grasp_visibility": 0.9444444444444444, "front_tray_visibility": 0.3581081081081081, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 85.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 106.0, "overhead_grasp_visibility": 0.5888888888888889, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 53.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.7444444444444445, "wrist_right_tray_visibility": 0.11797752808988764, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 67.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 21.0, "wrist_left_grasp_visibility": 0.75, "wrist_left_tray_visibility": 0.046153846153846156, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 6.0, "over_shoulder_left_grasp_visibility": 0.8222222222222222, "over_shoulder_left_tray_visibility": 0.6925675675675675, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 74.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 205.0, "over_shoulder_right_grasp_visibility": 0.17777777777777778, "over_shoulder_right_tray_visibility": 0.6571428571428571, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 16.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 184.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0270.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0270.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa125fab5b4219ec332838d9db71e8ec1abe787d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0270.debug.json
@@ -0,0 +1 @@
+{"frame_index": 270, "state": {"door_angle": 0.39310014247894287, "tray_height": 1.1144278049468994, "tray_grasped_left": true, "left_arm_pose": [0.18527644872665405, 0.08994896709918976, 1.1136178970336914, 0.20457082986831665, 0.6778017282485962, 0.6767693758010864, 0.20178918540477753], "right_arm_pose": [0.23678022623062134, -0.34832140803337097, 1.084696650505066, -0.5681962370872498, 0.5665401816368103, 0.5616625547409058, 0.20179349184036255], "left_arm_joint_positions": [0.05784893035888672, -0.45229434967041016, -0.4221944510936737, -2.8618903160095215, 1.7052257061004639, 1.9359300136566162, -0.07278668880462646], "right_arm_joint_positions": [-0.2896242141723633, 0.2587580680847168, 0.8985540866851807, -2.149688720703125, -1.4085241556167603, 1.5161933898925781, -2.7729599475860596], "pregrasp_goal_pose": [0.17550707541272767, 0.05038071672869655, 1.1084429119029235, 0.23631444662617979, 0.7245546821356735, 0.615097133262908, 0.20206808645302754], "pregrasp_position_error": 0.041083665408925746, "pregrasp_orientation_error_deg": 9.588186445552493}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.30067567567567566, "tray_projected_count": 296, "tray_visible_count": 89}, "overhead": {"grasp_visibility": 0.5666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 51, "tray_visibility": 0.6351351351351351, "tray_projected_count": 296, "tray_visible_count": 188}, "wrist_right": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.05232558139534884, "tray_projected_count": 172, "tray_visible_count": 9}, "wrist_left": {"grasp_visibility": 0.7023809523809523, "grasp_projected_count": 84, "grasp_visible_count": 59, "tray_visibility": 0.03076923076923077, "tray_projected_count": 130, "tray_visible_count": 4}, "over_shoulder_left": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.6554054054054054, "tray_projected_count": 296, "tray_visible_count": 194}, "over_shoulder_right": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 15, "tray_visibility": 0.6928571428571428, "tray_projected_count": 280, "tray_visible_count": 194}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1144278049468994, "final_height": 1.1144278049468994, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 0.8597174167633053}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0270.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0270.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd4d80f19141ed37b22b9feeea4e72cda43204b8
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0270.json
@@ -0,0 +1 @@
+{"frame_index": 270, "time_norm": 0.8385093167701864, "door_angle": 0.39310014247894287, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23678022623062134, "right_arm_pose_y": -0.34832140803337097, "right_arm_pose_z": 1.084696650505066, "right_arm_pose_qx": -0.5681962370872498, "right_arm_pose_qy": 0.5665401816368103, "right_arm_pose_qz": 0.5616625547409058, "right_arm_pose_qw": 0.20179349184036255, "left_arm_pose_x": 0.18527644872665405, "left_arm_pose_y": 0.08994896709918976, "left_arm_pose_z": 1.1136178970336914, "left_arm_pose_qx": 0.20457082986831665, "left_arm_pose_qy": 0.6778017282485962, "left_arm_pose_qz": 0.6767693758010864, "left_arm_pose_qw": 0.20178918540477753, "tray_height": 1.1144278049468994, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533142351079905, "pregrasp_distance": 0.041083665408925746, "pregrasp_position_error": 0.041083665408925746, "pregrasp_orientation_error_deg": 9.588186445552493, "p_pre": 1.0, "p_ext": 0.8597174167633053, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1144278049468994, "p_ext_final_height": 1.1144278049468994, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9835390946502057, "three_view_whole_tray_visibility": 0.3576599743750907, "full_view_visibility": 0.9982827820962251, "full_view_whole_tray_visibility": 0.9751946185580739, "front_grasp_visibility": 0.8222222222222222, "front_tray_visibility": 0.30067567567567566, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 74.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 89.0, "overhead_grasp_visibility": 0.5666666666666667, "overhead_tray_visibility": 0.6351351351351351, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 51.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 188.0, "wrist_right_grasp_visibility": 0.6888888888888889, "wrist_right_tray_visibility": 0.05232558139534884, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 62.0, "wrist_right_tray_projected_count": 172.0, "wrist_right_tray_visible_count": 9.0, "wrist_left_grasp_visibility": 0.7023809523809523, "wrist_left_tray_visibility": 0.03076923076923077, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 59.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 4.0, "over_shoulder_left_grasp_visibility": 0.7111111111111111, "over_shoulder_left_tray_visibility": 0.6554054054054054, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 64.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 194.0, "over_shoulder_right_grasp_visibility": 0.16666666666666666, "over_shoulder_right_tray_visibility": 0.6928571428571428, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 15.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 194.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0271.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0271.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b275d84129ef2e900e8661bb7fab750fadaa37b
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0271.debug.json
@@ -0,0 +1 @@
+{"frame_index": 271, "state": {"door_angle": 0.39303314685821533, "tray_height": 1.1248538494110107, "tray_grasped_left": true, "left_arm_pose": [0.18537865579128265, 0.08997554332017899, 1.1240500211715698, 0.20459023118019104, 0.6778541803359985, 0.6767469048500061, 0.201668843626976], "right_arm_pose": [0.23675206303596497, -0.3483266234397888, 1.0847289562225342, -0.5681911706924438, 0.5665612816810608, 0.5616533160209656, 0.20177409052848816], "left_arm_joint_positions": [0.05484271049499512, -0.47977709770202637, -0.41224929690361023, -2.8574862480163574, 1.697307825088501, 1.951631784439087, -0.04202306270599365], "right_arm_joint_positions": [-0.28962206840515137, 0.2587094306945801, 0.8985617160797119, -2.149600028991699, -1.4085217714309692, 1.5162079334259033, -2.7729830741882324], "pregrasp_goal_pose": [0.1755683209798921, 0.05042294709933963, 1.1189845610574674, 0.2364020215160286, 0.7248090195692484, 0.6148192465722556, 0.20189914169833487], "pregrasp_position_error": 0.04106469801530141, "pregrasp_orientation_error_deg": 9.625678842588941}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.33783783783783783, "tray_projected_count": 296, "tray_visible_count": 100}, "overhead": {"grasp_visibility": 0.5, "grasp_projected_count": 90, "grasp_visible_count": 45, "tray_visibility": 0.6587837837837838, "tray_projected_count": 296, "tray_visible_count": 195}, "wrist_right": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.06172839506172839, "tray_projected_count": 162, "tray_visible_count": 10}, "wrist_left": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 84, "grasp_visible_count": 56, "tray_visibility": 0.023076923076923078, "tray_projected_count": 130, "tray_visible_count": 3}, "over_shoulder_left": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.6587837837837838, "tray_projected_count": 296, "tray_visible_count": 195}, "over_shoulder_right": {"grasp_visibility": 0.16666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 15, "tray_visibility": 0.6714285714285714, "tray_projected_count": 280, "tray_visible_count": 188}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1248538494110107, "final_height": 1.1248538494110107, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 0.9466011206308997}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0271.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0271.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ceab68fb006e5d5b0e356ad07af8a15d86a937c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0271.json
@@ -0,0 +1 @@
+{"frame_index": 271, "time_norm": 0.8416149068322981, "door_angle": 0.39303314685821533, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23675206303596497, "right_arm_pose_y": -0.3483266234397888, "right_arm_pose_z": 1.0847289562225342, "right_arm_pose_qx": -0.5681911706924438, "right_arm_pose_qy": 0.5665612816810608, "right_arm_pose_qz": 0.5616533160209656, "right_arm_pose_qw": 0.20177409052848816, "left_arm_pose_x": 0.18537865579128265, "left_arm_pose_y": 0.08997554332017899, "left_arm_pose_z": 1.1240500211715698, "left_arm_pose_qx": 0.20459023118019104, "left_arm_pose_qy": 0.6778541803359985, "left_arm_pose_qz": 0.6767469048500061, "left_arm_pose_qw": 0.201668843626976, "tray_height": 1.1248538494110107, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533819578728052, "pregrasp_distance": 0.04106469801530141, "pregrasp_position_error": 0.04106469801530141, "pregrasp_orientation_error_deg": 9.625678842588941, "p_pre": 1.0, "p_ext": 0.9466011206308997, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1248538494110107, "p_ext_final_height": 1.1248538494110107, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9815637860082305, "three_view_whole_tray_visibility": 0.39304945971612637, "full_view_visibility": 0.9977808260935833, "full_view_whole_tray_visibility": 0.9767810581542472, "front_grasp_visibility": 0.8444444444444444, "front_tray_visibility": 0.33783783783783783, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 76.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 100.0, "overhead_grasp_visibility": 0.5, "overhead_tray_visibility": 0.6587837837837838, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 45.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 195.0, "wrist_right_grasp_visibility": 0.6444444444444445, "wrist_right_tray_visibility": 0.06172839506172839, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 58.0, "wrist_right_tray_projected_count": 162.0, "wrist_right_tray_visible_count": 10.0, "wrist_left_grasp_visibility": 0.6666666666666666, "wrist_left_tray_visibility": 0.023076923076923078, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 56.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 3.0, "over_shoulder_left_grasp_visibility": 0.7111111111111111, "over_shoulder_left_tray_visibility": 0.6587837837837838, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 64.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 195.0, "over_shoulder_right_grasp_visibility": 0.16666666666666666, "over_shoulder_right_tray_visibility": 0.6714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 15.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 188.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0272.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0272.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b931c561505952213f9029f9daf4e2a699826f29
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0272.debug.json
@@ -0,0 +1 @@
+{"frame_index": 272, "state": {"door_angle": 0.39321839809417725, "tray_height": 1.1363557577133179, "tray_grasped_left": true, "left_arm_pose": [0.18547527492046356, 0.08993387222290039, 1.1354472637176514, 0.2044968158006668, 0.6778426766395569, 0.6767666339874268, 0.2017357349395752], "right_arm_pose": [0.23678326606750488, -0.34833675622940063, 1.0847368240356445, -0.5681784749031067, 0.5665310621261597, 0.5616969466209412, 0.20177341997623444], "left_arm_joint_positions": [0.05173635482788086, -0.5078704357147217, -0.4015974700450897, -2.851569652557373, 1.6888024806976318, 1.9673101902008057, -0.009145617485046387], "right_arm_joint_positions": [-0.289630651473999, 0.25852370262145996, 0.8985624313354492, -2.1497104167938232, -1.4085489511489868, 1.5161547660827637, -2.7729384899139404], "pregrasp_goal_pose": [0.17571033448391887, 0.050369867378893575, 1.1301453755455382, 0.23584270598206727, 0.7243292302754709, 0.6154022347341589, 0.2024980831706892], "pregrasp_position_error": 0.04109470232542699, "pregrasp_orientation_error_deg": 9.528146842772653}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.22297297297297297, "tray_projected_count": 296, "tray_visible_count": 66}, "overhead": {"grasp_visibility": 0.5, "grasp_projected_count": 90, "grasp_visible_count": 45, "tray_visibility": 0.6418918918918919, "tray_projected_count": 296, "tray_visible_count": 190}, "wrist_right": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.06338028169014084, "tray_projected_count": 142, "tray_visible_count": 9}, "wrist_left": {"grasp_visibility": 0.6785714285714286, "grasp_projected_count": 84, "grasp_visible_count": 57, "tray_visibility": 0.023076923076923078, "tray_projected_count": 130, "tray_visible_count": 3}, "over_shoulder_left": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.7297297297297297, "tray_projected_count": 296, "tray_visible_count": 216}, "over_shoulder_right": {"grasp_visibility": 0.13333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 12, "tray_visibility": 0.6570397111913358, "tray_projected_count": 277, "tray_visible_count": 182}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1363557577133179, "final_height": 1.1363557577133179, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0272.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0272.json
new file mode 100644
index 0000000000000000000000000000000000000000..5504a827041e76959f3e823cb737465f2a9500c5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0272.json
@@ -0,0 +1 @@
+{"frame_index": 272, "time_norm": 0.84472049689441, "door_angle": 0.39321839809417725, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23678326606750488, "right_arm_pose_y": -0.34833675622940063, "right_arm_pose_z": 1.0847368240356445, "right_arm_pose_qx": -0.5681784749031067, "right_arm_pose_qy": 0.5665310621261597, "right_arm_pose_qz": 0.5616969466209412, "right_arm_pose_qw": 0.20177341997623444, "left_arm_pose_x": 0.18547527492046356, "left_arm_pose_y": 0.08993387222290039, "left_arm_pose_z": 1.1354472637176514, "left_arm_pose_qx": 0.2044968158006668, "left_arm_pose_qy": 0.6778426766395569, "left_arm_pose_qz": 0.6767666339874268, "left_arm_pose_qw": 0.2017357349395752, "tray_height": 1.1363557577133179, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8532748299185611, "pregrasp_distance": 0.04109470232542699, "pregrasp_position_error": 0.04109470232542699, "pregrasp_orientation_error_deg": 9.528146842772653, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1363557577133179, "p_ext_final_height": 1.1363557577133179, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9662698412698413, "three_view_whole_tray_visibility": 0.2890160610231034, "full_view_visibility": 0.9957774838330394, "full_view_whole_tray_visibility": 0.9763997797230799, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.22297297297297297, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 66.0, "overhead_grasp_visibility": 0.5, "overhead_tray_visibility": 0.6418918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 45.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 190.0, "wrist_right_grasp_visibility": 0.6222222222222222, "wrist_right_tray_visibility": 0.06338028169014084, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 56.0, "wrist_right_tray_projected_count": 142.0, "wrist_right_tray_visible_count": 9.0, "wrist_left_grasp_visibility": 0.6785714285714286, "wrist_left_tray_visibility": 0.023076923076923078, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 57.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 3.0, "over_shoulder_left_grasp_visibility": 0.7111111111111111, "over_shoulder_left_tray_visibility": 0.7297297297297297, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 64.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 216.0, "over_shoulder_right_grasp_visibility": 0.13333333333333333, "over_shoulder_right_tray_visibility": 0.6570397111913358, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 12.0, "over_shoulder_right_tray_projected_count": 277.0, "over_shoulder_right_tray_visible_count": 182.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0273.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0273.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f225e83c35548ee5563f9639bf51460c9f0c452d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0273.debug.json
@@ -0,0 +1 @@
+{"frame_index": 273, "state": {"door_angle": 0.3932918310165405, "tray_height": 1.1482068300247192, "tray_grasped_left": true, "left_arm_pose": [0.1855124682188034, 0.08990690112113953, 1.1472926139831543, 0.20444467663764954, 0.6778428554534912, 0.6767860054969788, 0.2017233818769455], "right_arm_pose": [0.2367885410785675, -0.3483278751373291, 1.0846843719482422, -0.5682179927825928, 0.5665256381034851, 0.5616512298583984, 0.20180442929267883], "left_arm_joint_positions": [0.04861283302307129, -0.5354714393615723, -0.39052101969718933, -2.8445181846618652, 1.6798510551452637, 1.9824612140655518, 0.025172829627990723], "right_arm_joint_positions": [-0.2896246910095215, 0.25868868827819824, 0.8985846042633057, -2.149625301361084, -1.4085065126419067, 1.5161902904510498, -2.7730042934417725], "pregrasp_goal_pose": [0.17578062235598066, 0.05035507690625724, 1.1420217231976486, 0.23584298202451487, 0.7243847180272687, 0.6153585256314363, 0.2024320949134392], "pregrasp_position_error": 0.04107113234737286, "pregrasp_orientation_error_deg": 9.539247573715663}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.21621621621621623, "tray_projected_count": 296, "tray_visible_count": 64}, "overhead": {"grasp_visibility": 0.5, "grasp_projected_count": 90, "grasp_visible_count": 45, "tray_visibility": 0.6317567567567568, "tray_projected_count": 296, "tray_visible_count": 187}, "wrist_right": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.06666666666666667, "tray_projected_count": 120, "tray_visible_count": 8}, "wrist_left": {"grasp_visibility": 0.6547619047619048, "grasp_projected_count": 84, "grasp_visible_count": 55, "tray_visibility": 0.007692307692307693, "tray_projected_count": 130, "tray_visible_count": 1}, "over_shoulder_left": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.6993243243243243, "tray_projected_count": 296, "tray_visible_count": 207}, "over_shoulder_right": {"grasp_visibility": 0.14444444444444443, "grasp_projected_count": 90, "grasp_visible_count": 13, "tray_visibility": 0.6415094339622641, "tray_projected_count": 265, "tray_visible_count": 170}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1482068300247192, "final_height": 1.1482068300247192, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0273.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0273.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d70e76a9de77ab748fdba83d98bb44cb72d53fc
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0273.json
@@ -0,0 +1 @@
+{"frame_index": 273, "time_norm": 0.8478260869565217, "door_angle": 0.3932918310165405, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2367885410785675, "right_arm_pose_y": -0.3483278751373291, "right_arm_pose_z": 1.0846843719482422, "right_arm_pose_qx": -0.5682179927825928, "right_arm_pose_qy": 0.5665256381034851, "right_arm_pose_qz": 0.5616512298583984, "right_arm_pose_qw": 0.20180442929267883, "left_arm_pose_x": 0.1855124682188034, "left_arm_pose_y": 0.08990690112113953, "left_arm_pose_z": 1.1472926139831543, "left_arm_pose_qx": 0.20444467663764954, "left_arm_pose_qy": 0.6778428554534912, "left_arm_pose_qz": 0.6767860054969788, "left_arm_pose_qw": 0.2017233818769455, "tray_height": 1.1482068300247192, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533589907863763, "pregrasp_distance": 0.04107113234737286, "pregrasp_position_error": 0.04107113234737286, "pregrasp_orientation_error_deg": 9.539247573715663, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1482068300247192, "p_ext_final_height": 1.1482068300247192, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9590828924162258, "three_view_whole_tray_visibility": 0.2740956340956341, "full_view_visibility": 0.9939710409998476, "full_view_whole_tray_visibility": 0.9711868843592092, "front_grasp_visibility": 0.6666666666666666, "front_tray_visibility": 0.21621621621621623, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 60.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 64.0, "overhead_grasp_visibility": 0.5, "overhead_tray_visibility": 0.6317567567567568, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 45.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 187.0, "wrist_right_grasp_visibility": 0.6444444444444445, "wrist_right_tray_visibility": 0.06666666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 58.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 8.0, "wrist_left_grasp_visibility": 0.6547619047619048, "wrist_left_tray_visibility": 0.007692307692307693, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 55.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 1.0, "over_shoulder_left_grasp_visibility": 0.6555555555555556, "over_shoulder_left_tray_visibility": 0.6993243243243243, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 59.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 207.0, "over_shoulder_right_grasp_visibility": 0.14444444444444443, "over_shoulder_right_tray_visibility": 0.6415094339622641, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 13.0, "over_shoulder_right_tray_projected_count": 265.0, "over_shoulder_right_tray_visible_count": 170.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0280.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0280.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc6c35d4ae1ea26e4f53ef6123d032135a4ebd3
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0280.debug.json
@@ -0,0 +1 @@
+{"frame_index": 280, "state": {"door_angle": 0.3933616876602173, "tray_height": 1.241693139076233, "tray_grasped_left": true, "left_arm_pose": [0.18560975790023804, 0.08984734117984772, 1.2408404350280762, 0.20421874523162842, 0.6778696179389954, 0.676831066608429, 0.2017107456922531], "right_arm_pose": [0.23676751554012299, -0.34833019971847534, 1.0847162008285522, -0.5681740045547485, 0.5665668249130249, 0.5616632103919983, 0.20177926123142242], "left_arm_joint_positions": [0.029247522354125977, -0.689896821975708, -0.3104848563671112, -2.7520394325256348, 1.6062562465667725, 2.064556360244751, 0.28739964962005615], "right_arm_joint_positions": [-0.28963565826416016, 0.2586350440979004, 0.8985848426818848, -2.1495072841644287, -1.4084950685501099, 1.516176700592041, -2.7729315757751465], "pregrasp_goal_pose": [0.17587460043067812, 0.05029980917218207, 1.2357310101956738, 0.23611961344080576, 0.7246769498693726, 0.6150958938872954, 0.20186106063224843], "pregrasp_position_error": 0.041047372643963916, "pregrasp_orientation_error_deg": 9.603809188633308}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.4444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 40, "tray_visibility": 0.09121621621621621, "tray_projected_count": 296, "tray_visible_count": 27}, "overhead": {"grasp_visibility": 0.5, "grasp_projected_count": 90, "grasp_visible_count": 45, "tray_visibility": 0.668918918918919, "tray_projected_count": 296, "tray_visible_count": 198}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.5476190476190477, "grasp_projected_count": 84, "grasp_visible_count": 46, "tray_visibility": 0.007692307692307693, "tray_projected_count": 130, "tray_visible_count": 1}, "over_shoulder_left": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.722972972972973, "tray_projected_count": 296, "tray_visible_count": 214}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.6224899598393574, "tray_projected_count": 249, "tray_visible_count": 155}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.241693139076233, "final_height": 1.241693139076233, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0280.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0280.json
new file mode 100644
index 0000000000000000000000000000000000000000..51352df6b9bd3b5e27ce5778aa8eb201a1eec42f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0280.json
@@ -0,0 +1 @@
+{"frame_index": 280, "time_norm": 0.8695652173913043, "door_angle": 0.3933616876602173, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23676751554012299, "right_arm_pose_y": -0.34833019971847534, "right_arm_pose_z": 1.0847162008285522, "right_arm_pose_qx": -0.5681740045547485, "right_arm_pose_qy": 0.5665668249130249, "right_arm_pose_qz": 0.5616632103919983, "right_arm_pose_qw": 0.20177926123142242, "left_arm_pose_x": 0.18560975790023804, "left_arm_pose_y": 0.08984734117984772, "left_arm_pose_z": 1.2408404350280762, "left_arm_pose_qx": 0.20421874523162842, "left_arm_pose_qy": 0.6778696179389954, "left_arm_pose_qz": 0.676831066608429, "left_arm_pose_qw": 0.2017107456922531, "tray_height": 1.241693139076233, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8534438230954667, "pregrasp_distance": 0.041047372643963916, "pregrasp_position_error": 0.041047372643963916, "pregrasp_orientation_error_deg": 9.603809188633308, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.241693139076233, "p_ext_final_height": 1.241693139076233, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7486772486772487, "three_view_whole_tray_visibility": 0.09820686070686069, "full_view_visibility": 0.9546377947612515, "full_view_whole_tray_visibility": 0.968775755472043, "front_grasp_visibility": 0.4444444444444444, "front_tray_visibility": 0.09121621621621621, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 40.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 27.0, "overhead_grasp_visibility": 0.5, "overhead_tray_visibility": 0.668918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 45.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 198.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.5476190476190477, "wrist_left_tray_visibility": 0.007692307692307693, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 46.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 1.0, "over_shoulder_left_grasp_visibility": 0.6222222222222222, "over_shoulder_left_tray_visibility": 0.722972972972973, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 56.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 214.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.6224899598393574, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 249.0, "over_shoulder_right_tray_visible_count": 155.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0281.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0281.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c004d5e4ee845d2ecbaf8f41d0c91df3aba732d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0281.debug.json
@@ -0,0 +1 @@
+{"frame_index": 281, "state": {"door_angle": 0.39335310459136963, "tray_height": 1.2565298080444336, "tray_grasped_left": true, "left_arm_pose": [0.18562275171279907, 0.08980734646320343, 1.2555553913116455, 0.20417574048042297, 0.6778748631477356, 0.6768224835395813, 0.20176571607589722], "right_arm_pose": [0.23676139116287231, -0.3483307361602783, 1.084695816040039, -0.5681990385055542, 0.5665618777275085, 0.5616457462310791, 0.20177114009857178], "left_arm_joint_positions": [0.02692246437072754, -0.7047233581542969, -0.29974624514579773, -2.731964111328125, 1.5942060947418213, 2.072319746017456, 0.3264373540878296], "right_arm_joint_positions": [-0.28963541984558105, 0.2586402893066406, 0.8985879421234131, -2.149662494659424, -1.4084964990615845, 1.5161750316619873, -2.7729380130767822], "pregrasp_goal_pose": [0.1758851448683405, 0.050253108708450435, 1.2501466178607465, 0.2353437322034972, 0.7242348887080945, 0.6156110923399016, 0.2027810067007656], "pregrasp_position_error": 0.04109274317516322, "pregrasp_orientation_error_deg": 9.499699301958104}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.36666666666666664, "grasp_projected_count": 90, "grasp_visible_count": 33, "tray_visibility": 0.0472972972972973, "tray_projected_count": 296, "tray_visible_count": 14}, "overhead": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.5476190476190477, "grasp_projected_count": 84, "grasp_visible_count": 46, "tray_visibility": 0.007692307692307693, "tray_projected_count": 130, "tray_visible_count": 1}, "over_shoulder_left": {"grasp_visibility": 0.6111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 55, "tray_visibility": 0.6891891891891891, "tray_projected_count": 296, "tray_visible_count": 204}, "over_shoulder_right": {"grasp_visibility": 0.05555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 5, "tray_visibility": 0.6239669421487604, "tray_projected_count": 242, "tray_visible_count": 151}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.2565298080444336, "final_height": 1.2565298080444336, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0281.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0281.json
new file mode 100644
index 0000000000000000000000000000000000000000..70cfaa668f2c9124fe1516bae0df90dbbdf457c1
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0281.json
@@ -0,0 +1 @@
+{"frame_index": 281, "time_norm": 0.8726708074534162, "door_angle": 0.39335310459136963, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23676139116287231, "right_arm_pose_y": -0.3483307361602783, "right_arm_pose_z": 1.084695816040039, "right_arm_pose_qx": -0.5681990385055542, "right_arm_pose_qy": 0.5665618777275085, "right_arm_pose_qz": 0.5616457462310791, "right_arm_pose_qw": 0.20177114009857178, "left_arm_pose_x": 0.18562275171279907, "left_arm_pose_y": 0.08980734646320343, "left_arm_pose_z": 1.2555553913116455, "left_arm_pose_qx": 0.20417574048042297, "left_arm_pose_qy": 0.6778748631477356, "left_arm_pose_qz": 0.6768224835395813, "left_arm_pose_qw": 0.20176571607589722, "tray_height": 1.2565298080444336, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8532818286364153, "pregrasp_distance": 0.04109274317516322, "pregrasp_position_error": 0.04109274317516322, "pregrasp_orientation_error_deg": 9.499699301958104, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.2565298080444336, "p_ext_final_height": 1.2565298080444336, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7134920634920636, "three_view_whole_tray_visibility": 0.054625779625779525, "full_view_visibility": 0.9392005791800031, "full_view_whole_tray_visibility": 0.9611789277898415, "front_grasp_visibility": 0.36666666666666664, "front_tray_visibility": 0.0472972972972973, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 33.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 14.0, "overhead_grasp_visibility": 0.4222222222222222, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 38.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.5476190476190477, "wrist_left_tray_visibility": 0.007692307692307693, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 46.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 1.0, "over_shoulder_left_grasp_visibility": 0.6111111111111112, "over_shoulder_left_tray_visibility": 0.6891891891891891, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 55.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 204.0, "over_shoulder_right_grasp_visibility": 0.05555555555555555, "over_shoulder_right_tray_visibility": 0.6239669421487604, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 5.0, "over_shoulder_right_tray_projected_count": 242.0, "over_shoulder_right_tray_visible_count": 151.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0282.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0282.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e9bad2253596f9f31eaee6aa9c19dd4f0417b5d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0282.debug.json
@@ -0,0 +1 @@
+{"frame_index": 282, "state": {"door_angle": 0.3931044340133667, "tray_height": 1.2716143131256104, "tray_grasped_left": true, "left_arm_pose": [0.18569067120552063, 0.08978879451751709, 1.2705563306808472, 0.204147070646286, 0.6778813004493713, 0.6768147349357605, 0.2017989605665207], "right_arm_pose": [0.23676182329654694, -0.348319947719574, 1.084679126739502, -0.5682128667831421, 0.5665570497512817, 0.5616220235824585, 0.2018118053674698], "left_arm_joint_positions": [0.024700164794921875, -0.7173871994018555, -0.28936073184013367, -2.7100629806518555, 1.5818462371826172, 2.0789992809295654, 0.365547776222229], "right_arm_joint_positions": [-0.28963637351989746, 0.2587864398956299, 0.8985762596130371, -2.1496872901916504, -1.40849769115448, 1.5161411762237549, -2.7729787826538086], "pregrasp_goal_pose": [0.17592703402429624, 0.05019817966892281, 1.2656610839143514, 0.2360196025862189, 0.7248215334696649, 0.6149368944725232, 0.20194332776849952], "pregrasp_position_error": 0.04106956094239636, "pregrasp_orientation_error_deg": 9.623149833426774}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.36666666666666664, "grasp_projected_count": 90, "grasp_visible_count": 33, "tray_visibility": 0.05067567567567568, "tray_projected_count": 296, "tray_visible_count": 15}, "overhead": {"grasp_visibility": 0.4888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 44, "tray_visibility": 0.6891891891891891, "tray_projected_count": 296, "tray_visible_count": 204}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6190476190476191, "grasp_projected_count": 84, "grasp_visible_count": 52, "tray_visibility": 0.007692307692307693, "tray_projected_count": 130, "tray_visible_count": 1}, "over_shoulder_left": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.7027027027027027, "tray_projected_count": 296, "tray_visible_count": 208}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.6008771929824561, "tray_projected_count": 228, "tray_visible_count": 137}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.2716143131256104, "final_height": 1.2716143131256104, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0282.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0282.json
new file mode 100644
index 0000000000000000000000000000000000000000..b356e548f86bdd13bceb2bdd591a842e0baad216
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0282.json
@@ -0,0 +1 @@
+{"frame_index": 282, "time_norm": 0.8757763975155279, "door_angle": 0.3931044340133667, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23676182329654694, "right_arm_pose_y": -0.348319947719574, "right_arm_pose_z": 1.084679126739502, "right_arm_pose_qx": -0.5682128667831421, "right_arm_pose_qy": 0.5665570497512817, "right_arm_pose_qz": 0.5616220235824585, "right_arm_pose_qw": 0.2018118053674698, "left_arm_pose_x": 0.18569067120552063, "left_arm_pose_y": 0.08978879451751709, "left_arm_pose_z": 1.2705563306808472, "left_arm_pose_qx": 0.204147070646286, "left_arm_pose_qy": 0.6778813004493713, "left_arm_pose_qz": 0.6768147349357605, "left_arm_pose_qw": 0.2017989605665207, "tray_height": 1.2716143131256104, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533645941649215, "pregrasp_distance": 0.04106956094239636, "pregrasp_position_error": 0.04106956094239636, "pregrasp_orientation_error_deg": 9.623149833426774, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.2716143131256104, "p_ext_final_height": 1.2716143131256104, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7587301587301587, "three_view_whole_tray_visibility": 0.05797817047817044, "full_view_visibility": 0.9554845559257082, "full_view_whole_tray_visibility": 0.9652580181123994, "front_grasp_visibility": 0.36666666666666664, "front_tray_visibility": 0.05067567567567568, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 33.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 15.0, "overhead_grasp_visibility": 0.4888888888888889, "overhead_tray_visibility": 0.6891891891891891, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 44.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 204.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6190476190476191, "wrist_left_tray_visibility": 0.007692307692307693, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 52.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 1.0, "over_shoulder_left_grasp_visibility": 0.6222222222222222, "over_shoulder_left_tray_visibility": 0.7027027027027027, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 56.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 208.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.6008771929824561, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 228.0, "over_shoulder_right_tray_visible_count": 137.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0283.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0283.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea20a7372b9c6b90c4dd9f9af1f6331376725cf
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0283.debug.json
@@ -0,0 +1 @@
+{"frame_index": 283, "state": {"door_angle": 0.39315998554229736, "tray_height": 1.2867982387542725, "tray_grasped_left": true, "left_arm_pose": [0.18572942912578583, 0.08972302079200745, 1.2857666015625, 0.2041366994380951, 0.6778748035430908, 0.6768158674240112, 0.20182745158672333], "right_arm_pose": [0.2368122935295105, -0.34830987453460693, 1.084686040878296, -0.5682045817375183, 0.5665366649627686, 0.5616464614868164, 0.20182442665100098], "left_arm_joint_positions": [0.022574901580810547, -0.7278685569763184, -0.2794947326183319, -2.68650484085083, 1.5692479610443115, 2.0846669673919678, 0.4045020341873169], "right_arm_joint_positions": [-0.28963613510131836, 0.25865983963012695, 0.8985636234283447, -2.1497538089752197, -1.4084962606430054, 1.5161592960357666, -2.7729666233062744], "pregrasp_goal_pose": [0.1759748190887507, 0.05018065000635638, 1.280579637978706, 0.23560263540532428, 0.7244704043223964, 0.6153330563347136, 0.20248274304935038], "pregrasp_position_error": 0.041056742388359824, "pregrasp_orientation_error_deg": 9.550255904390081}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.3111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 28, "tray_visibility": 0.05405405405405406, "tray_projected_count": 296, "tray_visible_count": 16}, "overhead": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.6317567567567568, "tray_projected_count": 296, "tray_visible_count": 187}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.5833333333333334, "grasp_projected_count": 84, "grasp_visible_count": 49, "tray_visibility": 0.007692307692307693, "tray_projected_count": 130, "tray_visible_count": 1}, "over_shoulder_left": {"grasp_visibility": 0.6111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 55, "tray_visibility": 0.6959459459459459, "tray_projected_count": 296, "tray_visible_count": 206}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.5954545454545455, "tray_projected_count": 220, "tray_visible_count": 131}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.2867982387542725, "final_height": 1.2867982387542725, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0283.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0283.json
new file mode 100644
index 0000000000000000000000000000000000000000..11dfa039c8aa58c2e37a96996ea62f3c5fc00415
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0283.json
@@ -0,0 +1 @@
+{"frame_index": 283, "time_norm": 0.8788819875776398, "door_angle": 0.39315998554229736, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2368122935295105, "right_arm_pose_y": -0.34830987453460693, "right_arm_pose_z": 1.084686040878296, "right_arm_pose_qx": -0.5682045817375183, "right_arm_pose_qy": 0.5665366649627686, "right_arm_pose_qz": 0.5616464614868164, "right_arm_pose_qw": 0.20182442665100098, "left_arm_pose_x": 0.18572942912578583, "left_arm_pose_y": 0.08972302079200745, "left_arm_pose_z": 1.2857666015625, "left_arm_pose_qx": 0.2041366994380951, "left_arm_pose_qy": 0.6778748035430908, "left_arm_pose_qz": 0.6768158674240112, "left_arm_pose_qw": 0.20182745158672333, "tray_height": 1.2867982387542725, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8534103653987023, "pregrasp_distance": 0.041056742388359824, "pregrasp_position_error": 0.041056742388359824, "pregrasp_orientation_error_deg": 9.550255904390081, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.2867982387542725, "p_ext_final_height": 1.2867982387542725, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.712962962962963, "three_view_whole_tray_visibility": 0.06133056133056136, "full_view_visibility": 0.9383716913072194, "full_view_whole_tray_visibility": 0.957482708626906, "front_grasp_visibility": 0.3111111111111111, "front_tray_visibility": 0.05405405405405406, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 28.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 16.0, "overhead_grasp_visibility": 0.4222222222222222, "overhead_tray_visibility": 0.6317567567567568, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 38.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 187.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.5833333333333334, "wrist_left_tray_visibility": 0.007692307692307693, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 49.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 1.0, "over_shoulder_left_grasp_visibility": 0.6111111111111112, "over_shoulder_left_tray_visibility": 0.6959459459459459, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 55.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 206.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.5954545454545455, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 220.0, "over_shoulder_right_tray_visible_count": 131.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0284.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0284.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..393aa6c2f3ea2d82ada5b4cba58264eecbd0a516
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0284.debug.json
@@ -0,0 +1 @@
+{"frame_index": 284, "state": {"door_angle": 0.39332902431488037, "tray_height": 1.3022435903549194, "tray_grasped_left": true, "left_arm_pose": [0.1857871115207672, 0.08970189094543457, 1.3011586666107178, 0.20410820841789246, 0.6778558492660522, 0.6768257021903992, 0.2018870711326599], "right_arm_pose": [0.23679573833942413, -0.34830203652381897, 1.084603190422058, -0.5682458281517029, 0.5665225982666016, 0.5616041421890259, 0.20186538994312286], "left_arm_joint_positions": [0.020560741424560547, -0.7363345623016357, -0.2700636088848114, -2.661360740661621, 1.5565111637115479, 2.0893101692199707, 0.44311368465423584], "right_arm_joint_positions": [-0.28963661193847656, 0.25872159004211426, 0.898564338684082, -2.149711847305298, -1.4084917306900024, 1.516164779663086, -2.7730002403259277], "pregrasp_goal_pose": [0.17600014859451837, 0.050134871229112525, 1.2960423852376937, 0.23561816792490137, 0.7245065019896577, 0.6152932881826475, 0.2024563583486789], "pregrasp_position_error": 0.041079313865247796, "pregrasp_orientation_error_deg": 9.5598197000266}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.26666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 24, "tray_visibility": 0.02702702702702703, "tray_projected_count": 296, "tray_visible_count": 8}, "overhead": {"grasp_visibility": 0.45555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 41, "tray_visibility": 0.6317567567567568, "tray_projected_count": 296, "tray_visible_count": 187}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.5238095238095238, "grasp_projected_count": 84, "grasp_visible_count": 44, "tray_visibility": 0.022727272727272728, "tray_projected_count": 132, "tray_visible_count": 3}, "over_shoulder_left": {"grasp_visibility": 0.6333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 57, "tray_visibility": 0.6770833333333334, "tray_projected_count": 288, "tray_visible_count": 195}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.594059405940594, "tray_projected_count": 202, "tray_visible_count": 120}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3022435903549194, "final_height": 1.3022435903549194, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0284.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0284.json
new file mode 100644
index 0000000000000000000000000000000000000000..96584acd8e714718da6993ce49a3228d5f3fe528
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0284.json
@@ -0,0 +1 @@
+{"frame_index": 284, "time_norm": 0.8819875776397516, "door_angle": 0.39332902431488037, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23679573833942413, "right_arm_pose_y": -0.34830203652381897, "right_arm_pose_z": 1.084603190422058, "right_arm_pose_qx": -0.5682458281517029, "right_arm_pose_qy": 0.5665225982666016, "right_arm_pose_qz": 0.5616041421890259, "right_arm_pose_qw": 0.20186538994312286, "left_arm_pose_x": 0.1857871115207672, "left_arm_pose_y": 0.08970189094543457, "left_arm_pose_z": 1.3011586666107178, "left_arm_pose_qx": 0.20410820841789246, "left_arm_pose_qy": 0.6778558492660522, "left_arm_pose_qz": 0.6768257021903992, "left_arm_pose_qw": 0.2018870711326599, "tray_height": 1.3022435903549194, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533297673672554, "pregrasp_distance": 0.041079313865247796, "pregrasp_position_error": 0.041079313865247796, "pregrasp_orientation_error_deg": 9.5598197000266, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3022435903549194, "p_ext_final_height": 1.3022435903549194, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6507936507936507, "three_view_whole_tray_visibility": 0.0491400491400491, "full_view_visibility": 0.9333863740283493, "full_view_whole_tray_visibility": 0.9541008876841848, "front_grasp_visibility": 0.26666666666666666, "front_tray_visibility": 0.02702702702702703, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 24.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 8.0, "overhead_grasp_visibility": 0.45555555555555555, "overhead_tray_visibility": 0.6317567567567568, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 41.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 187.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.5238095238095238, "wrist_left_tray_visibility": 0.022727272727272728, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 44.0, "wrist_left_tray_projected_count": 132.0, "wrist_left_tray_visible_count": 3.0, "over_shoulder_left_grasp_visibility": 0.6333333333333333, "over_shoulder_left_tray_visibility": 0.6770833333333334, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 57.0, "over_shoulder_left_tray_projected_count": 288.0, "over_shoulder_left_tray_visible_count": 195.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.594059405940594, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 202.0, "over_shoulder_right_tray_visible_count": 120.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0285.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0285.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e8b815d07800c1df3b39610ce35a8ec4c10ee95
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0285.debug.json
@@ -0,0 +1 @@
+{"frame_index": 285, "state": {"door_angle": 0.39265143871307373, "tray_height": 1.3168295621871948, "tray_grasped_left": true, "left_arm_pose": [0.18581286072731018, 0.08965793251991272, 1.315853476524353, 0.20412461459636688, 0.6778162121772766, 0.6768548488616943, 0.20190566778182983], "right_arm_pose": [0.23680566251277924, -0.34831303358078003, 1.0845701694488525, -0.5682684183120728, 0.5665150284767151, 0.5615876913070679, 0.20186881721019745], "left_arm_joint_positions": [0.018721342086791992, -0.7425017356872559, -0.26164910197257996, -2.636183261871338, 1.5443782806396484, 2.092799663543701, 0.47933685779571533], "right_arm_joint_positions": [-0.2896392345428467, 0.25894880294799805, 0.8985438346862793, -2.1497573852539062, -1.408497929573059, 1.51617431640625, -2.7729685306549072], "pregrasp_goal_pose": [0.17604883005235075, 0.0500850930869346, 1.310775760691078, 0.23584431953351537, 0.7247303888854558, 0.6150246697957474, 0.20220775433286656], "pregrasp_position_error": 0.04107467728288695, "pregrasp_orientation_error_deg": 9.610853682324032}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.2777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 25, "tray_visibility": 0.14864864864864866, "tray_projected_count": 296, "tray_visible_count": 44}, "overhead": {"grasp_visibility": 0.45555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 41, "tray_visibility": 0.6554054054054054, "tray_projected_count": 296, "tray_visible_count": 194}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.5714285714285714, "grasp_projected_count": 84, "grasp_visible_count": 48, "tray_visibility": 0.06521739130434782, "tray_projected_count": 138, "tray_visible_count": 9}, "over_shoulder_left": {"grasp_visibility": 0.5888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 53, "tray_visibility": 0.7025089605734767, "tray_projected_count": 279, "tray_visible_count": 196}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.5515463917525774, "tray_projected_count": 194, "tray_visible_count": 107}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3168295621871948, "final_height": 1.3168295621871948, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0285.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0285.json
new file mode 100644
index 0000000000000000000000000000000000000000..318cebc46758e07d8aeba131e10d91b6170955dd
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0285.json
@@ -0,0 +1 @@
+{"frame_index": 285, "time_norm": 0.8850931677018633, "door_angle": 0.39265143871307373, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23680566251277924, "right_arm_pose_y": -0.34831303358078003, "right_arm_pose_z": 1.0845701694488525, "right_arm_pose_qx": -0.5682684183120728, "right_arm_pose_qy": 0.5665150284767151, "right_arm_pose_qz": 0.5615876913070679, "right_arm_pose_qw": 0.20186881721019745, "left_arm_pose_x": 0.18581286072731018, "left_arm_pose_y": 0.08965793251991272, "left_arm_pose_z": 1.315853476524353, "left_arm_pose_qx": 0.20412461459636688, "left_arm_pose_qy": 0.6778162121772766, "left_arm_pose_qz": 0.6768548488616943, "left_arm_pose_qw": 0.20190566778182983, "tray_height": 1.3168295621871948, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533463223138377, "pregrasp_distance": 0.04107467728288695, "pregrasp_position_error": 0.04107467728288695, "pregrasp_orientation_error_deg": 9.610853682324032, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3168295621871948, "p_ext_final_height": 1.3168295621871948, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6904761904761905, "three_view_whole_tray_visibility": 0.20417156286721505, "full_view_visibility": 0.9337992684042067, "full_view_whole_tray_visibility": 0.9634136296625032, "front_grasp_visibility": 0.2777777777777778, "front_tray_visibility": 0.14864864864864866, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 25.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 44.0, "overhead_grasp_visibility": 0.45555555555555555, "overhead_tray_visibility": 0.6554054054054054, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 41.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 194.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.5714285714285714, "wrist_left_tray_visibility": 0.06521739130434782, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 48.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 9.0, "over_shoulder_left_grasp_visibility": 0.5888888888888889, "over_shoulder_left_tray_visibility": 0.7025089605734767, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 53.0, "over_shoulder_left_tray_projected_count": 279.0, "over_shoulder_left_tray_visible_count": 196.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.5515463917525774, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 194.0, "over_shoulder_right_tray_visible_count": 107.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0286.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0286.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..9805766aa0ed5d6100aab45347b718d23bbcb5fe
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0286.debug.json
@@ -0,0 +1 @@
+{"frame_index": 286, "state": {"door_angle": 0.3933974504470825, "tray_height": 1.330058217048645, "tray_grasped_left": true, "left_arm_pose": [0.1858108639717102, 0.08960045874118805, 1.3289636373519897, 0.2040451616048813, 0.6777212619781494, 0.6769195199012756, 0.202087864279747], "right_arm_pose": [0.23679834604263306, -0.3483009338378906, 1.0845558643341064, -0.5682801008224487, 0.5665053129196167, 0.5615827441215515, 0.20187748968601227], "left_arm_joint_positions": [0.01718306541442871, -0.7465674877166748, -0.254728764295578, -2.6130056381225586, 1.5337977409362793, 2.0952322483062744, 0.5104652643203735], "right_arm_joint_positions": [-0.2896261215209961, 0.25894999504089355, 0.898566484451294, -2.149787187576294, -1.4085415601730347, 1.5161566734313965, -2.7729578018188477], "pregrasp_goal_pose": [0.1760650138658288, 0.05002080881120077, 1.3239714216996519, 0.2358031632688972, 0.7247697520339866, 0.6149103929114609, 0.20246205426807315], "pregrasp_position_error": 0.0410664400695519, "pregrasp_orientation_error_deg": 9.636304560992338}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.37777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 34, "tray_visibility": 0.04391891891891892, "tray_projected_count": 296, "tray_visible_count": 13}, "overhead": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6428571428571429, "grasp_projected_count": 84, "grasp_visible_count": 54, "tray_visibility": 0.06521739130434782, "tray_projected_count": 138, "tray_visible_count": 9}, "over_shoulder_left": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.6877323420074349, "tray_projected_count": 269, "tray_visible_count": 185}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.5202312138728323, "tray_projected_count": 173, "tray_visible_count": 90}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.330058217048645, "final_height": 1.330058217048645, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0286.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0286.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb1ad94c934018e5b54edcd986c340f4bc3fd65
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0286.json
@@ -0,0 +1 @@
+{"frame_index": 286, "time_norm": 0.8881987577639752, "door_angle": 0.3933974504470825, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23679834604263306, "right_arm_pose_y": -0.3483009338378906, "right_arm_pose_z": 1.0845558643341064, "right_arm_pose_qx": -0.5682801008224487, "right_arm_pose_qy": 0.5665053129196167, "right_arm_pose_qz": 0.5615827441215515, "right_arm_pose_qw": 0.20187748968601227, "left_arm_pose_x": 0.1858108639717102, "left_arm_pose_y": 0.08960045874118805, "left_arm_pose_z": 1.3289636373519897, "left_arm_pose_qx": 0.2040451616048813, "left_arm_pose_qy": 0.6777212619781494, "left_arm_pose_qz": 0.6769195199012756, "left_arm_pose_qw": 0.202087864279747, "tray_height": 1.330058217048645, "tray_grasped_left": 1.0, "pregrasp_progress": 0.853375731210419, "pregrasp_distance": 0.0410664400695519, "pregrasp_position_error": 0.0410664400695519, "pregrasp_orientation_error_deg": 9.636304560992338, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.330058217048645, "p_ext_final_height": 1.330058217048645, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7777777777777778, "three_view_whole_tray_visibility": 0.10627203290246767, "full_view_visibility": 0.9545422953818016, "full_view_whole_tray_visibility": 0.9588363359682877, "front_grasp_visibility": 0.37777777777777777, "front_tray_visibility": 0.04391891891891892, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 34.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 13.0, "overhead_grasp_visibility": 0.43333333333333335, "overhead_tray_visibility": 0.6925675675675675, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 39.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 205.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6428571428571429, "wrist_left_tray_visibility": 0.06521739130434782, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 54.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 9.0, "over_shoulder_left_grasp_visibility": 0.6222222222222222, "over_shoulder_left_tray_visibility": 0.6877323420074349, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 56.0, "over_shoulder_left_tray_projected_count": 269.0, "over_shoulder_left_tray_visible_count": 185.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.5202312138728323, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 173.0, "over_shoulder_right_tray_visible_count": 90.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0287.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0287.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a841c40ee6b719d3d88b7f12c8adcc0a19febe
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0287.debug.json
@@ -0,0 +1 @@
+{"frame_index": 287, "state": {"door_angle": 0.3933759927749634, "tray_height": 1.3402724266052246, "tray_grasped_left": true, "left_arm_pose": [0.18576064705848694, 0.08957650512456894, 1.3393088579177856, 0.2040371149778366, 0.6776663064956665, 0.6769570112228394, 0.20215460658073425], "right_arm_pose": [0.23677964508533478, -0.34830328822135925, 1.0846455097198486, -0.568229079246521, 0.5665267109870911, 0.5616246461868286, 0.20184442400932312], "left_arm_joint_positions": [0.016010761260986328, -0.7489941120147705, -0.24944373965263367, -2.5942840576171875, 1.5253748893737793, 2.096750497817993, 0.5349322557449341], "right_arm_joint_positions": [-0.28963589668273926, 0.25873661041259766, 0.8985352516174316, -2.1496927738189697, -1.4085108041763306, 1.5161724090576172, -2.7729907035827637], "pregrasp_goal_pose": [0.1760160939047951, 0.05004111207826373, 1.3343188025763644, 0.23616936576410136, 0.724766757907692, 0.6149053448811422, 0.20206086742157375], "pregrasp_position_error": 0.041023216253743576, "pregrasp_orientation_error_deg": 9.659435226144293}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.4777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 43, "tray_visibility": 0.10135135135135136, "tray_projected_count": 296, "tray_visible_count": 30}, "overhead": {"grasp_visibility": 0.4888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 44, "tray_visibility": 0.6858108108108109, "tray_projected_count": 296, "tray_visible_count": 203}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.7023809523809523, "grasp_projected_count": 84, "grasp_visible_count": 59, "tray_visibility": 0.07971014492753623, "tray_projected_count": 138, "tray_visible_count": 11}, "over_shoulder_left": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.703125, "tray_projected_count": 256, "tray_visible_count": 180}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.5059523809523809, "tray_projected_count": 168, "tray_visible_count": 85}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3402724266052246, "final_height": 1.3402724266052246, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0287.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0287.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e39420620641cad90557e18da9425362922cb0
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0287.json
@@ -0,0 +1 @@
+{"frame_index": 287, "time_norm": 0.8913043478260869, "door_angle": 0.3933759927749634, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23677964508533478, "right_arm_pose_y": -0.34830328822135925, "right_arm_pose_z": 1.0846455097198486, "right_arm_pose_qx": -0.568229079246521, "right_arm_pose_qy": 0.5665267109870911, "right_arm_pose_qz": 0.5616246461868286, "right_arm_pose_qw": 0.20184442400932312, "left_arm_pose_x": 0.18576064705848694, "left_arm_pose_y": 0.08957650512456894, "left_arm_pose_z": 1.3393088579177856, "left_arm_pose_qx": 0.2040371149778366, "left_arm_pose_qy": 0.6776663064956665, "left_arm_pose_qz": 0.6769570112228394, "left_arm_pose_qw": 0.20215460658073425, "tray_height": 1.3402724266052246, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8535300666009175, "pregrasp_distance": 0.041023216253743576, "pregrasp_position_error": 0.041023216253743576, "pregrasp_orientation_error_deg": 9.659435226144293, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3402724266052246, "p_ext_final_height": 1.3402724266052246, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8445767195767195, "three_view_whole_tray_visibility": 0.17298276537406976, "full_view_visibility": 0.9746973457878808, "full_view_whole_tray_visibility": 0.9618891850895517, "front_grasp_visibility": 0.4777777777777778, "front_tray_visibility": 0.10135135135135136, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 43.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 30.0, "overhead_grasp_visibility": 0.4888888888888889, "overhead_tray_visibility": 0.6858108108108109, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 44.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 203.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7023809523809523, "wrist_left_tray_visibility": 0.07971014492753623, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 59.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 11.0, "over_shoulder_left_grasp_visibility": 0.6666666666666666, "over_shoulder_left_tray_visibility": 0.703125, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 60.0, "over_shoulder_left_tray_projected_count": 256.0, "over_shoulder_left_tray_visible_count": 180.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.5059523809523809, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 168.0, "over_shoulder_right_tray_visible_count": 85.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0294.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0294.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..31e6c7a78bf2a0d6f75a12552c45d38a901ca5e1
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0294.debug.json
@@ -0,0 +1 @@
+{"frame_index": 294, "state": {"door_angle": 0.3933616876602173, "tray_height": 1.353973627090454, "tray_grasped_left": true, "left_arm_pose": [0.19047889113426208, 0.09680169075727463, 1.3533267974853516, 0.2042786180973053, 0.67772376537323, 0.6768681406974792, 0.20201551914215088], "right_arm_pose": [0.2366226464509964, -0.34837019443511963, 1.0851681232452393, -0.5677281022071838, 0.5668124556541443, 0.561970055103302, 0.20149017870426178], "left_arm_joint_positions": [0.02328038215637207, -0.7365453243255615, -0.22849151492118835, -2.5603017807006836, 1.5326650142669678, 2.1132051944732666, 0.5602291822433472], "right_arm_joint_positions": [-0.2894783020019531, 0.25841426849365234, 0.8985366821289062, -2.149016857147217, -1.4086743593215942, 1.515768051147461, -2.7724881172180176], "pregrasp_goal_pose": [0.18071763242476682, 0.057271232355335745, 1.3478367404169918, 0.23597290366294596, 0.7244527830639438, 0.6152308817284846, 0.20242508741600174], "pregrasp_position_error": 0.04108625122440553, "pregrasp_orientation_error_deg": 9.581609198779377}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.5304054054054054, "tray_projected_count": 296, "tray_visible_count": 157}, "overhead": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.6554054054054054, "tray_projected_count": 296, "tray_visible_count": 194}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.679324894514768, "tray_projected_count": 237, "tray_visible_count": 161}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.4744525547445255, "tray_projected_count": 137, "tray_visible_count": 65}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.353973627090454, "final_height": 1.353973627090454, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0294.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0294.json
new file mode 100644
index 0000000000000000000000000000000000000000..2129bba09b0a4bb54fed09949149db26a2fc4507
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0294.json
@@ -0,0 +1 @@
+{"frame_index": 294, "time_norm": 0.9130434782608695, "door_angle": 0.3933616876602173, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2366226464509964, "right_arm_pose_y": -0.34837019443511963, "right_arm_pose_z": 1.0851681232452393, "right_arm_pose_qx": -0.5677281022071838, "right_arm_pose_qy": 0.5668124556541443, "right_arm_pose_qz": 0.561970055103302, "right_arm_pose_qw": 0.20149017870426178, "left_arm_pose_x": 0.19047889113426208, "left_arm_pose_y": 0.09680169075727463, "left_arm_pose_z": 1.3533267974853516, "left_arm_pose_qx": 0.2042786180973053, "left_arm_pose_qy": 0.67772376537323, "left_arm_pose_qz": 0.6768681406974792, "left_arm_pose_qw": 0.20201551914215088, "tray_height": 1.353973627090454, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533050087038192, "pregrasp_distance": 0.04108625122440553, "pregrasp_position_error": 0.04108625122440553, "pregrasp_orientation_error_deg": 9.581609198779377, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.353973627090454, "p_ext_final_height": 1.353973627090454, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9825396825396825, "three_view_whole_tray_visibility": 0.5593035343035343, "full_view_visibility": 0.9995715635682714, "full_view_whole_tray_visibility": 0.9744067638581574, "front_grasp_visibility": 0.8777777777777778, "front_tray_visibility": 0.5304054054054054, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 79.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 157.0, "overhead_grasp_visibility": 0.7111111111111111, "overhead_tray_visibility": 0.6554054054054054, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 64.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 194.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9111111111111111, "over_shoulder_left_tray_visibility": 0.679324894514768, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 82.0, "over_shoulder_left_tray_projected_count": 237.0, "over_shoulder_left_tray_visible_count": 161.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.4744525547445255, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 137.0, "over_shoulder_right_tray_visible_count": 65.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0295.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0295.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89d1c66b727382f19a489a1809a92392caf3b31
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0295.debug.json
@@ -0,0 +1 @@
+{"frame_index": 295, "state": {"door_angle": 0.3932124376296997, "tray_height": 1.353981614112854, "tray_grasped_left": true, "left_arm_pose": [0.1946771740913391, 0.10311579704284668, 1.353353500366211, 0.2043096423149109, 0.6777470111846924, 0.6768452525138855, 0.20198288559913635], "right_arm_pose": [0.2366129755973816, -0.34838587045669556, 1.0852407217025757, -0.5676977634429932, 0.5668271780014038, 0.5620010495185852, 0.2014475166797638], "left_arm_joint_positions": [0.030758142471313477, -0.723459005355835, -0.2165195643901825, -2.552762031555176, 1.5487487316131592, 2.125666618347168, 0.553737998008728], "right_arm_joint_positions": [-0.28947019577026367, 0.25830864906311035, 0.898561954498291, -2.148855209350586, -1.4086707830429077, 1.5157601833343506, -2.7725508213043213], "pregrasp_goal_pose": [0.1849074213282735, 0.06353767941095526, 1.3483525225779978, 0.23668748166076758, 0.725230349324996, 0.6143479665722649, 0.20148586156738477], "pregrasp_position_error": 0.04107170854948044, "pregrasp_orientation_error_deg": 9.732517350968894}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.4797297297297297, "tray_projected_count": 296, "tray_visible_count": 142}, "overhead": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6455696202531646, "tray_projected_count": 237, "tray_visible_count": 153}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.5409836065573771, "tray_projected_count": 122, "tray_visible_count": 66}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.353981614112854, "final_height": 1.353981614112854, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0295.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0295.json
new file mode 100644
index 0000000000000000000000000000000000000000..74c01be14dcedcb76b2d7c7701c42bfd9261ebfc
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0295.json
@@ -0,0 +1 @@
+{"frame_index": 295, "time_norm": 0.9161490683229814, "door_angle": 0.3932124376296997, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2366129755973816, "right_arm_pose_y": -0.34838587045669556, "right_arm_pose_z": 1.0852407217025757, "right_arm_pose_qx": -0.5676977634429932, "right_arm_pose_qy": 0.5668271780014038, "right_arm_pose_qz": 0.5620010495185852, "right_arm_pose_qw": 0.2014475166797638, "left_arm_pose_x": 0.1946771740913391, "left_arm_pose_y": 0.10311579704284668, "left_arm_pose_z": 1.353353500366211, "left_arm_pose_qx": 0.2043096423149109, "left_arm_pose_qy": 0.6777470111846924, "left_arm_pose_qz": 0.6768452525138855, "left_arm_pose_qw": 0.20198288559913635, "tray_height": 1.353981614112854, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533569293673897, "pregrasp_distance": 0.04107170854948044, "pregrasp_position_error": 0.04107170854948044, "pregrasp_orientation_error_deg": 9.732517350968894, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.353981614112854, "p_ext_final_height": 1.353981614112854, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9873015873015873, "three_view_whole_tray_visibility": 0.5117463617463618, "full_view_visibility": 0.9997483310470965, "full_view_whole_tray_visibility": 0.9747744428551818, "front_grasp_visibility": 0.9111111111111111, "front_tray_visibility": 0.4797297297297297, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 82.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 142.0, "overhead_grasp_visibility": 0.6888888888888889, "overhead_tray_visibility": 0.6824324324324325, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 62.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 202.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9333333333333333, "over_shoulder_left_tray_visibility": 0.6455696202531646, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 84.0, "over_shoulder_left_tray_projected_count": 237.0, "over_shoulder_left_tray_visible_count": 153.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.5409836065573771, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 122.0, "over_shoulder_right_tray_visible_count": 66.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0296.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0296.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01acc77e9c0895ead741a78932c982e34e2bb33
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0296.debug.json
@@ -0,0 +1 @@
+{"frame_index": 296, "state": {"door_angle": 0.3934441804885864, "tray_height": 1.3543360233306885, "tray_grasped_left": true, "left_arm_pose": [0.20027509331703186, 0.1115538626909256, 1.353507399559021, 0.2042505145072937, 0.6777588129043579, 0.6768321990966797, 0.20204703509807587], "right_arm_pose": [0.23662137985229492, -0.3483712673187256, 1.0852220058441162, -0.5676880478858948, 0.5668230652809143, 0.5620139241218567, 0.20145073533058167], "left_arm_joint_positions": [0.040596723556518555, -0.7058501243591309, -0.20083138346672058, -2.5413413047790527, 1.569859504699707, 2.1420204639434814, 0.544995903968811], "right_arm_joint_positions": [-0.2894730567932129, 0.2582216262817383, 0.8985180854797363, -2.148925542831421, -1.408685564994812, 1.5157437324523926, -2.772495746612549], "pregrasp_goal_pose": [0.19048545664441763, 0.07198346403673217, 1.3484655898920237, 0.2362858729728519, 0.7249369772186315, 0.6146817560261026, 0.20199431700728032], "pregrasp_position_error": 0.04107399762077967, "pregrasp_orientation_error_deg": 9.668530369910167}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.5135135135135135, "tray_projected_count": 296, "tray_visible_count": 152}, "overhead": {"grasp_visibility": 0.5555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 50, "tray_visibility": 0.6216216216216216, "tray_projected_count": 296, "tray_visible_count": 184}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.6666666666666666, "tray_projected_count": 234, "tray_visible_count": 156}, "over_shoulder_right": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.42857142857142855, "tray_projected_count": 119, "tray_visible_count": 51}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3543360233306885, "final_height": 1.3543360233306885, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0296.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0296.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09fc66fe3dcca35b98c8841e36792e7ba22dfa0
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0296.json
@@ -0,0 +1 @@
+{"frame_index": 296, "time_norm": 0.9192546583850931, "door_angle": 0.3934441804885864, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23662137985229492, "right_arm_pose_y": -0.3483712673187256, "right_arm_pose_z": 1.0852220058441162, "right_arm_pose_qx": -0.5676880478858948, "right_arm_pose_qy": 0.5668230652809143, "right_arm_pose_qz": 0.5620139241218567, "right_arm_pose_qw": 0.20145073533058167, "left_arm_pose_x": 0.20027509331703186, "left_arm_pose_y": 0.1115538626909256, "left_arm_pose_z": 1.353507399559021, "left_arm_pose_qx": 0.2042505145072937, "left_arm_pose_qy": 0.6777588129043579, "left_arm_pose_qz": 0.6768321990966797, "left_arm_pose_qw": 0.20204703509807587, "tray_height": 1.3543360233306885, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533487528301685, "pregrasp_distance": 0.04107399762077967, "pregrasp_position_error": 0.04107399762077967, "pregrasp_orientation_error_deg": 9.668530369910167, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3543360233306885, "p_ext_final_height": 1.3543360233306885, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9888888888888889, "three_view_whole_tray_visibility": 0.5434511434511434, "full_view_visibility": 0.9998951379362901, "full_view_whole_tray_visibility": 0.9670955779063887, "front_grasp_visibility": 0.9222222222222223, "front_tray_visibility": 0.5135135135135135, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 83.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 152.0, "overhead_grasp_visibility": 0.5555555555555556, "overhead_tray_visibility": 0.6216216216216216, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 50.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 184.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9777777777777777, "over_shoulder_left_tray_visibility": 0.6666666666666666, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 88.0, "over_shoulder_left_tray_projected_count": 234.0, "over_shoulder_left_tray_visible_count": 156.0, "over_shoulder_right_grasp_visibility": 0.044444444444444446, "over_shoulder_right_tray_visibility": 0.42857142857142855, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 4.0, "over_shoulder_right_tray_projected_count": 119.0, "over_shoulder_right_tray_visible_count": 51.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0297.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0297.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d47cdfc0473459a3bb6e88e68c95eec0af52325c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0297.debug.json
@@ -0,0 +1 @@
+{"frame_index": 297, "state": {"door_angle": 0.39328229427337646, "tray_height": 1.3544639348983765, "tray_grasped_left": true, "left_arm_pose": [0.20685607194900513, 0.12143784761428833, 1.3537266254425049, 0.2041797637939453, 0.6777673363685608, 0.676815390586853, 0.20214620232582092], "right_arm_pose": [0.23661550879478455, -0.3483579754829407, 1.0851802825927734, -0.5677098631858826, 0.5668240189552307, 0.5619829893112183, 0.2014727145433426], "left_arm_joint_positions": [0.05167102813720703, -0.6844632625579834, -0.18301460146903992, -2.5271053314208984, 1.5942416191101074, 2.1607203483581543, 0.5346947908401489], "right_arm_joint_positions": [-0.2894771099090576, 0.25850987434387207, 0.8985714912414551, -2.148771047592163, -1.4086824655532837, 1.515735387802124, -2.77247953414917], "pregrasp_goal_pose": [0.1970765554262598, 0.0818579028730225, 1.3488119120928743, 0.23668474369415163, 0.7251926504267783, 0.6143666750352741, 0.20156770692628387], "pregrasp_position_error": 0.04106537929265165, "pregrasp_orientation_error_deg": 9.73032937911875}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.5033783783783784, "tray_projected_count": 296, "tray_visible_count": 149}, "overhead": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.6418918918918919, "tray_projected_count": 296, "tray_visible_count": 190}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8809523809523809, "grasp_projected_count": 84, "grasp_visible_count": 74, "tray_visibility": 0.06923076923076923, "tray_projected_count": 130, "tray_visible_count": 9}, "over_shoulder_left": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.6828193832599119, "tray_projected_count": 227, "tray_visible_count": 155}, "over_shoulder_right": {"grasp_visibility": 0.03333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 3, "tray_visibility": 0.3944954128440367, "tray_projected_count": 109, "tray_visible_count": 43}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3544639348983765, "final_height": 1.3544639348983765, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0297.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0297.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e651ec679c0def3ebec1b7198a42773b2dfd6e3
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0297.json
@@ -0,0 +1 @@
+{"frame_index": 297, "time_norm": 0.922360248447205, "door_angle": 0.39328229427337646, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23661550879478455, "right_arm_pose_y": -0.3483579754829407, "right_arm_pose_z": 1.0851802825927734, "right_arm_pose_qx": -0.5677098631858826, "right_arm_pose_qy": 0.5668240189552307, "right_arm_pose_qz": 0.5619829893112183, "right_arm_pose_qw": 0.2014727145433426, "left_arm_pose_x": 0.20685607194900513, "left_arm_pose_y": 0.12143784761428833, "left_arm_pose_z": 1.3537266254425049, "left_arm_pose_qx": 0.2041797637939453, "left_arm_pose_qy": 0.6777673363685608, "left_arm_pose_qz": 0.676815390586853, "left_arm_pose_qw": 0.20214620232582092, "tray_height": 1.3544639348983765, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533795210153421, "pregrasp_distance": 0.04106537929265165, "pregrasp_position_error": 0.04106537929265165, "pregrasp_orientation_error_deg": 9.73032937911875, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3544639348983765, "p_ext_final_height": 1.3544639348983765, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9880952380952381, "three_view_whole_tray_visibility": 0.5377598752598753, "full_view_visibility": 0.999641975308642, "full_view_whole_tray_visibility": 0.9682088767512327, "front_grasp_visibility": 0.9, "front_tray_visibility": 0.5033783783783784, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 81.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 149.0, "overhead_grasp_visibility": 0.6, "overhead_tray_visibility": 0.6418918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 54.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 190.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8809523809523809, "wrist_left_tray_visibility": 0.06923076923076923, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 74.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 9.0, "over_shoulder_left_grasp_visibility": 0.9222222222222223, "over_shoulder_left_tray_visibility": 0.6828193832599119, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 83.0, "over_shoulder_left_tray_projected_count": 227.0, "over_shoulder_left_tray_visible_count": 155.0, "over_shoulder_right_grasp_visibility": 0.03333333333333333, "over_shoulder_right_tray_visibility": 0.3944954128440367, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 3.0, "over_shoulder_right_tray_projected_count": 109.0, "over_shoulder_right_tray_visible_count": 43.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0298.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0298.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3fa5d2c7cc47c7182cf8a94279c61d474152182
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0298.debug.json
@@ -0,0 +1 @@
+{"frame_index": 298, "state": {"door_angle": 0.3927730321884155, "tray_height": 1.3546197414398193, "tray_grasped_left": true, "left_arm_pose": [0.21379470825195312, 0.1319403052330017, 1.3538334369659424, 0.2041328400373459, 0.6778044700622559, 0.6768003702163696, 0.20211923122406006], "right_arm_pose": [0.23661687970161438, -0.34838518500328064, 1.085220456123352, -0.5676999092102051, 0.5668195486068726, 0.5620009899139404, 0.20146308839321136], "left_arm_joint_positions": [0.06287050247192383, -0.6608703136444092, -0.16467806696891785, -2.5111002922058105, 1.6193413734436035, 2.1797866821289062, 0.5238972902297974], "right_arm_joint_positions": [-0.2894909381866455, 0.25830793380737305, 0.8985528945922852, -2.1490209102630615, -1.4087127447128296, 1.5157499313354492, -2.7725207805633545], "pregrasp_goal_pose": [0.2040404971203407, 0.09236891870041823, 1.348764999593027, 0.23630577315350387, 0.7249457210814256, 0.6146847573750542, 0.2019305130752341], "pregrasp_position_error": 0.04106979820152962, "pregrasp_orientation_error_deg": 9.669248744433261}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.5033783783783784, "tray_projected_count": 296, "tray_visible_count": 149}, "overhead": {"grasp_visibility": 0.5555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 50, "tray_visibility": 0.625, "tray_projected_count": 296, "tray_visible_count": 185}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.6606334841628959, "tray_projected_count": 221, "tray_visible_count": 146}, "over_shoulder_right": {"grasp_visibility": 0.03333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 3, "tray_visibility": 0.48936170212765956, "tray_projected_count": 94, "tray_visible_count": 46}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3546197414398193, "final_height": 1.3546197414398193, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0298.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0298.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d8ec355647cc73e3b254426e23026d1e9092c60
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0298.json
@@ -0,0 +1 @@
+{"frame_index": 298, "time_norm": 0.9254658385093167, "door_angle": 0.3927730321884155, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23661687970161438, "right_arm_pose_y": -0.34838518500328064, "right_arm_pose_z": 1.085220456123352, "right_arm_pose_qx": -0.5676999092102051, "right_arm_pose_qy": 0.5668195486068726, "right_arm_pose_qz": 0.5620009899139404, "right_arm_pose_qw": 0.20146308839321136, "left_arm_pose_x": 0.21379470825195312, "left_arm_pose_y": 0.1319403052330017, "left_arm_pose_z": 1.3538334369659424, "left_arm_pose_qx": 0.2041328400373459, "left_arm_pose_qy": 0.6778044700622559, "left_arm_pose_qz": 0.6768003702163696, "left_arm_pose_qw": 0.20211923122406006, "tray_height": 1.3546197414398193, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533637508738814, "pregrasp_distance": 0.04106979820152962, "pregrasp_position_error": 0.04106979820152962, "pregrasp_orientation_error_deg": 9.669248744433261, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3546197414398193, "p_ext_final_height": 1.3546197414398193, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9841269841269841, "three_view_whole_tray_visibility": 0.5339397089397089, "full_view_visibility": 0.99946959304984, "full_view_whole_tray_visibility": 0.9697130358654379, "front_grasp_visibility": 0.8888888888888888, "front_tray_visibility": 0.5033783783783784, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 80.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 149.0, "overhead_grasp_visibility": 0.5555555555555556, "overhead_tray_visibility": 0.625, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 50.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 185.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9222222222222223, "over_shoulder_left_tray_visibility": 0.6606334841628959, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 83.0, "over_shoulder_left_tray_projected_count": 221.0, "over_shoulder_left_tray_visible_count": 146.0, "over_shoulder_right_grasp_visibility": 0.03333333333333333, "over_shoulder_right_tray_visibility": 0.48936170212765956, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 3.0, "over_shoulder_right_tray_projected_count": 94.0, "over_shoulder_right_tray_visible_count": 46.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0299.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0299.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3871900918f81b4997ed94081b40bfa6bfec2b0f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0299.debug.json
@@ -0,0 +1 @@
+{"frame_index": 299, "state": {"door_angle": 0.3932753801345825, "tray_height": 1.3547884225845337, "tray_grasped_left": true, "left_arm_pose": [0.22082599997520447, 0.14254479110240936, 1.3539963960647583, 0.20411594212055206, 0.6778120994567871, 0.6767741441726685, 0.2021988183259964], "right_arm_pose": [0.23661579191684723, -0.34836575388908386, 1.0851727724075317, -0.5677160024642944, 0.5668271780014038, 0.5619727969169617, 0.20147500932216644], "left_arm_joint_positions": [0.07363152503967285, -0.63663649559021, -0.14658495783805847, -2.4936537742614746, 1.6441898345947266, 2.1988155841827393, 0.5129154920578003], "right_arm_joint_positions": [-0.2894752025604248, 0.25848388671875, 0.8985304832458496, -2.1489295959472656, -1.408669352531433, 1.5157363414764404, -2.7725107669830322], "pregrasp_goal_pose": [0.2110479035513616, 0.10297574270854358, 1.3489581172076817, 0.2364292273440458, 0.7249332853479856, 0.6146560629008662, 0.20191799471884622], "pregrasp_position_error": 0.041069514415338855, "pregrasp_orientation_error_deg": 9.674352120673687}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.5168918918918919, "tray_projected_count": 296, "tray_visible_count": 153}, "overhead": {"grasp_visibility": 0.4777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 43, "tray_visibility": 0.6554054054054054, "tray_projected_count": 296, "tray_visible_count": 194}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.6682464454976303, "tray_projected_count": 211, "tray_visible_count": 141}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 87, "grasp_visible_count": 0, "tray_visibility": 0.5, "tray_projected_count": 86, "tray_visible_count": 43}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3547884225845337, "final_height": 1.3547884225845337, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0299.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0299.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff17c4f20f76c3256438870cfa2e3063b796bd7f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0299.json
@@ -0,0 +1 @@
+{"frame_index": 299, "time_norm": 0.9285714285714286, "door_angle": 0.3932753801345825, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23661579191684723, "right_arm_pose_y": -0.34836575388908386, "right_arm_pose_z": 1.0851727724075317, "right_arm_pose_qx": -0.5677160024642944, "right_arm_pose_qy": 0.5668271780014038, "right_arm_pose_qz": 0.5619727969169617, "right_arm_pose_qw": 0.20147500932216644, "left_arm_pose_x": 0.22082599997520447, "left_arm_pose_y": 0.14254479110240936, "left_arm_pose_z": 1.3539963960647583, "left_arm_pose_qx": 0.20411594212055206, "left_arm_pose_qy": 0.6778120994567871, "left_arm_pose_qz": 0.6767741441726685, "left_arm_pose_qw": 0.2021988183259964, "tray_height": 1.3547884225845337, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8533647647794377, "pregrasp_distance": 0.041069514415338855, "pregrasp_position_error": 0.041069514415338855, "pregrasp_orientation_error_deg": 9.674352120673687, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3547884225845337, "p_ext_final_height": 1.3547884225845337, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9857142857142858, "three_view_whole_tray_visibility": 0.5466216216216216, "full_view_visibility": 0.999336860670194, "full_view_whole_tray_visibility": 0.9740847827140577, "front_grasp_visibility": 0.9, "front_tray_visibility": 0.5168918918918919, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 81.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 153.0, "overhead_grasp_visibility": 0.4777777777777778, "overhead_tray_visibility": 0.6554054054054054, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 43.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 194.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9111111111111111, "over_shoulder_left_tray_visibility": 0.6682464454976303, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 82.0, "over_shoulder_left_tray_projected_count": 211.0, "over_shoulder_left_tray_visible_count": 141.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.5, "over_shoulder_right_grasp_projected_count": 87.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 43.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0300.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0300.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c887c469ce55902c86258f0323aa75fe79691abf
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0300.debug.json
@@ -0,0 +1 @@
+{"frame_index": 300, "state": {"door_angle": 0.39321744441986084, "tray_height": 1.3548682928085327, "tray_grasped_left": true, "left_arm_pose": [0.22790667414665222, 0.15330639481544495, 1.3541836738586426, 0.20406436920166016, 0.6777899265289307, 0.676798403263092, 0.20224390923976898], "right_arm_pose": [0.23661303520202637, -0.3483743667602539, 1.0852439403533936, -0.5676764249801636, 0.5668436884880066, 0.5620092749595642, 0.20143812894821167], "left_arm_joint_positions": [0.08407139778137207, -0.611318826675415, -0.12890979647636414, -2.474581718444824, 1.6685693264007568, 2.21742844581604, 0.502083420753479], "right_arm_joint_positions": [-0.2894785404205322, 0.2583472728729248, 0.8984992504119873, -2.1487274169921875, -1.4086979627609253, 1.5157620906829834, -2.772498846054077], "pregrasp_goal_pose": [0.2181445530298389, 0.11373638756141416, 1.3489029153913707, 0.2361593097089256, 0.7248001524151712, 0.6148246627353018, 0.20219830263672048], "pregrasp_position_error": 0.04109709105001283, "pregrasp_orientation_error_deg": 9.645434185534747}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.5472972972972973, "tray_projected_count": 296, "tray_visible_count": 162}, "overhead": {"grasp_visibility": 0.5444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 49, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.6908212560386473, "tray_projected_count": 207, "tray_visible_count": 143}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 81, "grasp_visible_count": 0, "tray_visibility": 0.5, "tray_projected_count": 74, "tray_visible_count": 37}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3548682928085327, "final_height": 1.3548682928085327, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0300.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0300.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ec7ec2e4d993a855280df53baee5f018e32c8b2
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0300.json
@@ -0,0 +1 @@
+{"frame_index": 300, "time_norm": 0.9316770186335404, "door_angle": 0.39321744441986084, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23661303520202637, "right_arm_pose_y": -0.3483743667602539, "right_arm_pose_z": 1.0852439403533936, "right_arm_pose_qx": -0.5676764249801636, "right_arm_pose_qy": 0.5668436884880066, "right_arm_pose_qz": 0.5620092749595642, "right_arm_pose_qw": 0.20143812894821167, "left_arm_pose_x": 0.22790667414665222, "left_arm_pose_y": 0.15330639481544495, "left_arm_pose_z": 1.3541836738586426, "left_arm_pose_qx": 0.20406436920166016, "left_arm_pose_qy": 0.6777899265289307, "left_arm_pose_qz": 0.676798403263092, "left_arm_pose_qw": 0.20224390923976898, "tray_height": 1.3548682928085327, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8532662936722032, "pregrasp_distance": 0.04109709105001283, "pregrasp_position_error": 0.04109709105001283, "pregrasp_orientation_error_deg": 9.645434185534747, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3548682928085327, "p_ext_final_height": 1.3548682928085327, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9825396825396825, "three_view_whole_tray_visibility": 0.5751559251559251, "full_view_visibility": 0.9988510679992162, "full_view_whole_tray_visibility": 0.9786995528476139, "front_grasp_visibility": 0.8777777777777778, "front_tray_visibility": 0.5472972972972973, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 79.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 162.0, "overhead_grasp_visibility": 0.5444444444444444, "overhead_tray_visibility": 0.6756756756756757, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 49.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 200.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.8555555555555555, "over_shoulder_left_tray_visibility": 0.6908212560386473, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 77.0, "over_shoulder_left_tray_projected_count": 207.0, "over_shoulder_left_tray_visible_count": 143.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.5, "over_shoulder_right_grasp_projected_count": 81.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 74.0, "over_shoulder_right_tray_visible_count": 37.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0301.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0301.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cbcb20e71c41577ad9c09634c93e3a08340b056
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0301.debug.json
@@ -0,0 +1 @@
+{"frame_index": 301, "state": {"door_angle": 0.39317619800567627, "tray_height": 1.3549683094024658, "tray_grasped_left": true, "left_arm_pose": [0.23506475985050201, 0.1640859693288803, 1.3542150259017944, 0.20410701632499695, 0.6778253316879272, 0.6767595410346985, 0.20221228897571564], "right_arm_pose": [0.23662005364894867, -0.34836333990097046, 1.0852288007736206, -0.5676780343055725, 0.5668303370475769, 0.5620130896568298, 0.20146046578884125], "left_arm_joint_positions": [0.0940699577331543, -0.585151195526123, -0.1116017997264862, -2.4544882774353027, 1.6921546459197998, 2.2357077598571777, 0.4913386106491089], "right_arm_joint_positions": [-0.28948092460632324, 0.25812387466430664, 0.8985364437103271, -2.148937702178955, -1.4087001085281372, 1.515732765197754, -2.77250337600708], "pregrasp_goal_pose": [0.22528153950640534, 0.12455291786667144, 1.3491323738196421, 0.236391855130764, 0.7249589776576161, 0.6146282018564633, 0.20195431420039217], "pregrasp_position_error": 0.04104152665780123, "pregrasp_orientation_error_deg": 9.675012472537079}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.5743243243243243, "tray_projected_count": 296, "tray_visible_count": 170}, "overhead": {"grasp_visibility": 0.4777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 43, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.6407766990291263, "tray_projected_count": 206, "tray_visible_count": 132}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 70, "grasp_visible_count": 0, "tray_visibility": 0.43283582089552236, "tray_projected_count": 67, "tray_visible_count": 29}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3549683094024658, "final_height": 1.3549683094024658, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0301.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0301.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d2ea859940798274292036fb68d2ac73c7321cc
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0301.json
@@ -0,0 +1 @@
+{"frame_index": 301, "time_norm": 0.9347826086956522, "door_angle": 0.39317619800567627, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.23662005364894867, "right_arm_pose_y": -0.34836333990097046, "right_arm_pose_z": 1.0852288007736206, "right_arm_pose_qx": -0.5676780343055725, "right_arm_pose_qy": 0.5668303370475769, "right_arm_pose_qz": 0.5620130896568298, "right_arm_pose_qw": 0.20146046578884125, "left_arm_pose_x": 0.23506475985050201, "left_arm_pose_y": 0.1640859693288803, "left_arm_pose_z": 1.3542150259017944, "left_arm_pose_qx": 0.20410701632499695, "left_arm_pose_qy": 0.6778253316879272, "left_arm_pose_qz": 0.6767595410346985, "left_arm_pose_qw": 0.20221228897571564, "tray_height": 1.3549683094024658, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8534646884912627, "pregrasp_distance": 0.04104152665780123, "pregrasp_position_error": 0.04104152665780123, "pregrasp_orientation_error_deg": 9.675012472537079, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3549683094024658, "p_ext_final_height": 1.3549683094024658, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9825396825396825, "three_view_whole_tray_visibility": 0.6005197505197506, "full_view_visibility": 0.9985816186556927, "full_view_whole_tray_visibility": 0.9736033917167086, "front_grasp_visibility": 0.8777777777777778, "front_tray_visibility": 0.5743243243243243, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 79.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 170.0, "overhead_grasp_visibility": 0.4777777777777778, "overhead_tray_visibility": 0.6756756756756757, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 43.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 200.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.8444444444444444, "over_shoulder_left_tray_visibility": 0.6407766990291263, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 76.0, "over_shoulder_left_tray_projected_count": 206.0, "over_shoulder_left_tray_visible_count": 132.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.43283582089552236, "over_shoulder_right_grasp_projected_count": 70.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 67.0, "over_shoulder_right_tray_visible_count": 29.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0308.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0308.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..438a65d9be13f17eabbb4d4b4c7b793058a583ce
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0308.debug.json
@@ -0,0 +1 @@
+{"frame_index": 308, "state": {"door_angle": 0.3933616876602173, "tray_height": 1.3555222749710083, "tray_grasped_left": true, "left_arm_pose": [0.2751491069793701, 0.22500695288181305, 1.3549141883850098, 0.2040483057498932, 0.677775502204895, 0.6768007278442383, 0.202300563454628], "right_arm_pose": [0.2365984171628952, -0.3483838140964508, 1.08524751663208, -0.567686140537262, 0.5668280720710754, 0.5620119571685791, 0.2014475017786026], "left_arm_joint_positions": [0.1411268711090088, -0.4283323287963867, -0.022274941205978394, -2.319779872894287, 1.808250904083252, 2.333634376525879, 0.43574392795562744], "right_arm_joint_positions": [-0.2894730567932129, 0.25832128524780273, 0.8985507488250732, -2.1487905979156494, -1.4087003469467163, 1.5157513618469238, -2.7725369930267334], "pregrasp_goal_pose": [0.2654032357913424, 0.1854888007890539, 1.34960807862237, 0.2361524369208072, 0.7250216430031132, 0.6145397055905393, 0.20227850594198982], "pregrasp_position_error": 0.04104657294894733, "pregrasp_orientation_error_deg": 9.68523061168141}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.625, "tray_projected_count": 256, "tray_visible_count": 160}, "overhead": {"grasp_visibility": 0.3888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 35, "tray_visibility": 0.6182432432432432, "tray_projected_count": 296, "tray_visible_count": 183}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.6878612716763006, "tray_projected_count": 173, "tray_visible_count": 119}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.45, "tray_projected_count": 20, "tray_visible_count": 9}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3555222749710083, "final_height": 1.3555222749710083, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0308.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0308.json
new file mode 100644
index 0000000000000000000000000000000000000000..37bca7cffcb6fa9eab59469cb6662d9d33de0680
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0308.json
@@ -0,0 +1 @@
+{"frame_index": 308, "time_norm": 0.9565217391304348, "door_angle": 0.3933616876602173, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2365984171628952, "right_arm_pose_y": -0.3483838140964508, "right_arm_pose_z": 1.08524751663208, "right_arm_pose_qx": -0.567686140537262, "right_arm_pose_qy": 0.5668280720710754, "right_arm_pose_qz": 0.5620119571685791, "right_arm_pose_qw": 0.2014475017786026, "left_arm_pose_x": 0.2751491069793701, "left_arm_pose_y": 0.22500695288181305, "left_arm_pose_z": 1.3549141883850098, "left_arm_pose_qx": 0.2040483057498932, "left_arm_pose_qy": 0.677775502204895, "left_arm_pose_qz": 0.6768007278442383, "left_arm_pose_qw": 0.202300563454628, "tray_height": 1.3555222749710083, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8534466740982083, "pregrasp_distance": 0.04104657294894733, "pregrasp_position_error": 0.04104657294894733, "pregrasp_orientation_error_deg": 9.68523061168141, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3555222749710083, "p_ext_final_height": 1.3555222749710083, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9809523809523809, "three_view_whole_tray_visibility": 0.6480769230769231, "full_view_visibility": 0.996249265138154, "full_view_whole_tray_visibility": 0.9769354585521492, "front_grasp_visibility": 0.8666666666666667, "front_tray_visibility": 0.625, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 78.0, "front_tray_projected_count": 256.0, "front_tray_visible_count": 160.0, "overhead_grasp_visibility": 0.3888888888888889, "overhead_tray_visibility": 0.6182432432432432, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 35.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 183.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.6777777777777778, "over_shoulder_left_tray_visibility": 0.6878612716763006, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 61.0, "over_shoulder_left_tray_projected_count": 173.0, "over_shoulder_left_tray_visible_count": 119.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.45, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 20.0, "over_shoulder_right_tray_visible_count": 9.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0309.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0309.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05b30a2c28817548538460e36d3627eaf7ef774
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0309.debug.json
@@ -0,0 +1 @@
+{"frame_index": 309, "state": {"door_angle": 0.392936110496521, "tray_height": 1.3504228591918945, "tray_grasped_left": false, "left_arm_pose": [0.2767593264579773, 0.22713738679885864, 1.353688359260559, 0.20476850867271423, 0.6781416535377502, 0.6764011383056641, 0.20168140530586243], "right_arm_pose": [0.23683162033557892, -0.34825071692466736, 1.0843180418014526, -0.5682364106178284, 0.5665774941444397, 0.5615002512931824, 0.20202715694904327], "left_arm_joint_positions": [0.14243817329406738, -0.42201757431030273, -0.019527167081832886, -2.3161768913269043, 1.8114101886749268, 2.3368794918060303, 0.4341617822647095], "right_arm_joint_positions": [-0.28946375846862793, 0.259521484375, 0.8984067440032959, -2.1497349739074707, -1.4085639715194702, 1.5157835483551025, -2.7726492881774902], "pregrasp_goal_pose": [0.26742736378921705, 0.18811760038995415, 1.343860586589799, 0.23462162178250542, 0.7244992589358922, 0.6153349214286434, 0.2035103261849269], "pregrasp_position_error": 0.041306347869495816, "pregrasp_orientation_error_deg": 9.43311223774448}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.6431372549019608, "tray_projected_count": 255, "tray_visible_count": 164}, "overhead": {"grasp_visibility": 0.1111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 10, "tray_visibility": 0.652027027027027, "tray_projected_count": 296, "tray_visible_count": 193}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.75, "grasp_projected_count": 84, "grasp_visible_count": 63, "tray_visibility": 0.24615384615384617, "tray_projected_count": 130, "tray_visible_count": 32}, "over_shoulder_left": {"grasp_visibility": 0.3333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 30, "tray_visibility": 0.664804469273743, "tray_projected_count": 179, "tray_visible_count": 119}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.16666666666666666, "tray_projected_count": 24, "tray_visible_count": 4}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.32512844036298855, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.26742736378921705, 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1.0, "planner_score": 0.23654240679847205, "height_before": 1.2911617755889893, "height_after": 1.5060051679611206}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0309.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0309.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f6315e621893f8f403eaebc72bf24f2f60316b
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0309.json
@@ -0,0 +1 @@
+{"frame_index": 309, "time_norm": 0.9596273291925466, "door_angle": 0.392936110496521, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23683162033557892, "right_arm_pose_y": -0.34825071692466736, "right_arm_pose_z": 1.0843180418014526, "right_arm_pose_qx": -0.5682364106178284, "right_arm_pose_qy": 0.5665774941444397, "right_arm_pose_qz": 0.5615002512931824, "right_arm_pose_qw": 0.20202715694904327, "left_arm_pose_x": 0.2767593264579773, "left_arm_pose_y": 0.22713738679885864, "left_arm_pose_z": 1.353688359260559, "left_arm_pose_qx": 0.20476850867271423, "left_arm_pose_qy": 0.6781416535377502, "left_arm_pose_qz": 0.6764011383056641, "left_arm_pose_qw": 0.20168140530586243, "tray_height": 1.3504228591918945, "tray_grasped_left": 0.0, "pregrasp_progress": 0.852519162826658, "pregrasp_distance": 0.041306347869495816, "pregrasp_position_error": 0.041306347869495816, "pregrasp_orientation_error_deg": 9.43311223774448, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.32512844036298855, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.26742736378921705, "p_pre_best_target_pose_y": 0.18811760038995415, "p_pre_best_target_pose_z": 1.343860586589799, "p_pre_best_target_pose_qx": 0.23462162178250542, "p_pre_best_target_pose_qy": 0.7244992589358922, "p_pre_best_target_pose_qz": 0.6153349214286434, "p_pre_best_target_pose_qw": 0.2035103261849269, "p_ext_initial_height": 1.3504228591918945, "p_ext_final_height": 1.5060051679611206, "p_ext_total_length": 4.44907289584715, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.21543117250128646, "p_ext_retreat_score": 0.08239987524907721, "three_view_visibility": 0.9222222222222223, "three_view_whole_tray_visibility": 0.7309803921568627, "full_view_visibility": 0.9539094650205762, "full_view_whole_tray_visibility": 0.9738515215840224, "front_grasp_visibility": 0.6888888888888889, "front_tray_visibility": 0.6431372549019608, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 62.0, "front_tray_projected_count": 255.0, "front_tray_visible_count": 164.0, "overhead_grasp_visibility": 0.1111111111111111, "overhead_tray_visibility": 0.652027027027027, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 10.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 193.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.75, "wrist_left_tray_visibility": 0.24615384615384617, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 32.0, "over_shoulder_left_grasp_visibility": 0.3333333333333333, "over_shoulder_left_tray_visibility": 0.664804469273743, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 30.0, "over_shoulder_left_tray_projected_count": 179.0, "over_shoulder_left_tray_visible_count": 119.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16666666666666666, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 24.0, "over_shoulder_right_tray_visible_count": 4.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0310.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0310.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..95524b885680f8ed049edfaed4716d307418f49d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0310.debug.json
@@ -0,0 +1 @@
+{"frame_index": 310, "state": {"door_angle": 0.3931480646133423, "tray_height": 1.3504226207733154, "tray_grasped_left": false, "left_arm_pose": [0.27707019448280334, 0.2277442365884781, 1.3546178340911865, 0.20428834855556488, 0.6778497695922852, 0.6766977906227112, 0.20215384662151337], "right_arm_pose": [0.23669101297855377, -0.3483257293701172, 1.0849051475524902, -0.5678879618644714, 0.5667448043823242, 0.561815619468689, 0.20166048407554626], "left_arm_joint_positions": [0.1428983211517334, -0.4207937717437744, -0.01866123080253601, -2.313697338104248, 1.8125543594360352, 2.3378612995147705, 0.4335421323776245], "right_arm_joint_positions": [-0.2894730567932129, 0.2588613033294678, 0.8984742164611816, -2.149005651473999, -1.4086445569992065, 1.5157721042633057, -2.7725634574890137], "pregrasp_goal_pose": [0.26740554834640773, 0.1884262008915652, 1.3438606062609235, 0.23515618057784893, 0.7243294175718906, 0.6151787034317229, 0.20396967524626852], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0310.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0310.json
new file mode 100644
index 0000000000000000000000000000000000000000..12cc1f9fc02b49804765c19c1a17083c43bf2711
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0310.json
@@ -0,0 +1 @@
+{"frame_index": 310, "time_norm": 0.9627329192546584, "door_angle": 0.3931480646133423, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23669101297855377, "right_arm_pose_y": -0.3483257293701172, "right_arm_pose_z": 1.0849051475524902, "right_arm_pose_qx": -0.5678879618644714, "right_arm_pose_qy": 0.5667448043823242, "right_arm_pose_qz": 0.561815619468689, "right_arm_pose_qw": 0.20166048407554626, "left_arm_pose_x": 0.27707019448280334, "left_arm_pose_y": 0.2277442365884781, "left_arm_pose_z": 1.3546178340911865, "left_arm_pose_qx": 0.20428834855556488, "left_arm_pose_qy": 0.6778497695922852, "left_arm_pose_qz": 0.6766977906227112, "left_arm_pose_qw": 0.20215384662151337, "tray_height": 1.3504226207733154, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8504242434670517, "pregrasp_distance": 0.04189309330423868, "pregrasp_position_error": 0.04189309330423868, "pregrasp_orientation_error_deg": 9.522171088176705, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.32625374798480566, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.26740554834640773, "p_pre_best_target_pose_y": 0.1884262008915652, "p_pre_best_target_pose_z": 1.3438606062609235, "p_pre_best_target_pose_qx": 0.23515618057784893, "p_pre_best_target_pose_qy": 0.7243294175718906, "p_pre_best_target_pose_qz": 0.6151787034317229, "p_pre_best_target_pose_qw": 0.20396967524626852, "p_ext_initial_height": 1.3504226207733154, "p_ext_final_height": 1.480216383934021, "p_ext_total_length": 4.433145069847283, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.2152080555631465, "p_ext_retreat_score": 0.08311083052152754, "three_view_visibility": 0.9222222222222223, "three_view_whole_tray_visibility": 0.728024132730015, "full_view_visibility": 0.9537270233196159, "full_view_whole_tray_visibility": 0.9737523918923853, "front_grasp_visibility": 0.6888888888888889, "front_tray_visibility": 0.6392156862745098, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 62.0, "front_tray_projected_count": 255.0, "front_tray_visible_count": 163.0, "overhead_grasp_visibility": 0.12222222222222222, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 11.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.75, "wrist_left_tray_visibility": 0.24615384615384617, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 32.0, "over_shoulder_left_grasp_visibility": 0.32222222222222224, "over_shoulder_left_tray_visibility": 0.6703910614525139, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 29.0, "over_shoulder_left_tray_projected_count": 179.0, "over_shoulder_left_tray_visible_count": 120.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16666666666666666, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 24.0, "over_shoulder_right_tray_visible_count": 4.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0311.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0311.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d96fbd0ef0f4034b3a4f2adfd74e08d304a31f9d
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0311.debug.json
@@ -0,0 +1 @@
+{"frame_index": 311, "state": {"door_angle": 0.393093466758728, "tray_height": 1.3504232168197632, "tray_grasped_left": false, "left_arm_pose": [0.277249813079834, 0.2280072569847107, 1.3545602560043335, 0.20433126389980316, 0.6778565049171448, 0.6766884326934814, 0.20211932063102722], "right_arm_pose": [0.2367020547389984, -0.3483040928840637, 1.0847959518432617, -0.5679516792297363, 0.5667303204536438, 0.5617423057556152, 0.2017257958650589], "left_arm_joint_positions": [0.1430509090423584, -0.4200859069824219, -0.018350571393966675, -2.3131027221679688, 1.812978744506836, 2.3382389545440674, 0.43336522579193115], "right_arm_joint_positions": [-0.28946852684020996, 0.25890278816223145, 0.8984701633453369, -2.149212598800659, -1.4086312055587769, 1.5157649517059326, -2.772608757019043], "pregrasp_goal_pose": [0.2673615041407061, 0.18830418248499003, 1.3438642816280113, 0.23501233353519083, 0.7243798835116475, 0.6152194608320178, 0.2038332712379347], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0311.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0311.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d3554e4c20f52b73f98e121c40fd0582184e5a3
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0311.json
@@ -0,0 +1 @@
+{"frame_index": 311, "time_norm": 0.9658385093167702, "door_angle": 0.393093466758728, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2367020547389984, "right_arm_pose_y": -0.3483040928840637, "right_arm_pose_z": 1.0847959518432617, "right_arm_pose_qx": -0.5679516792297363, "right_arm_pose_qy": 0.5667303204536438, "right_arm_pose_qz": 0.5617423057556152, "right_arm_pose_qw": 0.2017257958650589, "left_arm_pose_x": 0.277249813079834, "left_arm_pose_y": 0.2280072569847107, "left_arm_pose_z": 1.3545602560043335, "left_arm_pose_qx": 0.20433126389980316, "left_arm_pose_qy": 0.6778565049171448, "left_arm_pose_qz": 0.6766884326934814, "left_arm_pose_qw": 0.20211932063102722, "tray_height": 1.3504232168197632, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8490040603586545, "pregrasp_distance": 0.04229085771493582, "pregrasp_position_error": 0.04229085771493582, "pregrasp_orientation_error_deg": 9.51253562209118, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.32724521094177395, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2673615041407061, "p_pre_best_target_pose_y": 0.18830418248499003, "p_pre_best_target_pose_z": 1.3438642816280113, "p_pre_best_target_pose_qx": 0.23501233353519083, "p_pre_best_target_pose_qy": 0.7243798835116475, "p_pre_best_target_pose_qz": 0.6152194608320178, "p_pre_best_target_pose_qw": 0.2038332712379347, "p_ext_initial_height": 1.3504232168197632, "p_ext_final_height": 1.5115939378738403, "p_ext_total_length": 4.451992828600409, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.21509011204749007, "p_ext_retreat_score": 0.0823856923294152, "three_view_visibility": 0.9194444444444445, "three_view_whole_tray_visibility": 0.728024132730015, "full_view_visibility": 0.9520744170096022, "full_view_whole_tray_visibility": 0.9728626424650085, "front_grasp_visibility": 0.6777777777777778, "front_tray_visibility": 0.6392156862745098, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 61.0, "front_tray_projected_count": 255.0, "front_tray_visible_count": 163.0, "overhead_grasp_visibility": 0.12222222222222222, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 11.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.75, "wrist_left_tray_visibility": 0.24615384615384617, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 32.0, "over_shoulder_left_grasp_visibility": 0.32222222222222224, "over_shoulder_left_tray_visibility": 0.659217877094972, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 29.0, "over_shoulder_left_tray_projected_count": 179.0, "over_shoulder_left_tray_visible_count": 118.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16666666666666666, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 24.0, "over_shoulder_right_tray_visible_count": 4.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0312.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0312.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..81269e0c439fff3b989135520c335f3d5ace5f56
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0312.debug.json
@@ -0,0 +1 @@
+{"frame_index": 312, "state": {"door_angle": 0.3930126428604126, "tray_height": 1.3504230976104736, "tray_grasped_left": false, "left_arm_pose": [0.27726322412490845, 0.22802430391311646, 1.3545056581497192, 0.20429003238677979, 0.677832305431366, 0.6766968369483948, 0.20221376419067383], "right_arm_pose": [0.2367134988307953, -0.3482944071292877, 1.084707260131836, -0.5680822134017944, 0.5666986703872681, 0.5615900158882141, 0.20187091827392578], "left_arm_joint_positions": [0.14308619499206543, -0.4202604293823242, -0.01831647753715515, -2.31313419342041, 1.813283920288086, 2.3383235931396484, 0.43295037746429443], "right_arm_joint_positions": [-0.28950071334838867, 0.25908946990966797, 0.898472785949707, -2.1492321491241455, -1.4084123373031616, 1.5157737731933594, -2.772934675216675], "pregrasp_goal_pose": [0.26740240090388157, 0.18826721024753978, 1.3438631204630542, 0.23487587160825815, 0.7244195585786487, 0.6152639038175481, 0.20371538170734152], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0312.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0312.json
new file mode 100644
index 0000000000000000000000000000000000000000..864a0af5d855ff0b8d1d70ac1cc1043da72603c5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0312.json
@@ -0,0 +1 @@
+{"frame_index": 312, "time_norm": 0.968944099378882, "door_angle": 0.3930126428604126, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2367134988307953, "right_arm_pose_y": -0.3482944071292877, "right_arm_pose_z": 1.084707260131836, "right_arm_pose_qx": -0.5680822134017944, "right_arm_pose_qy": 0.5666986703872681, "right_arm_pose_qz": 0.5615900158882141, "right_arm_pose_qw": 0.20187091827392578, "left_arm_pose_x": 0.27726322412490845, "left_arm_pose_y": 0.22802430391311646, "left_arm_pose_z": 1.3545056581497192, "left_arm_pose_qx": 0.20429003238677979, "left_arm_pose_qy": 0.677832305431366, "left_arm_pose_qz": 0.6766968369483948, "left_arm_pose_qw": 0.20221376419067383, "tray_height": 1.3504230976104736, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8488939578788062, "pregrasp_distance": 0.042321695851440834, "pregrasp_position_error": 0.042321695851440834, "pregrasp_orientation_error_deg": 9.509080862192059, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.32776735471216956, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.26740240090388157, "p_pre_best_target_pose_y": 0.18826721024753978, "p_pre_best_target_pose_z": 1.3438631204630542, "p_pre_best_target_pose_qx": 0.23487587160825815, "p_pre_best_target_pose_qy": 0.7244195585786487, "p_pre_best_target_pose_qz": 0.6152639038175481, "p_pre_best_target_pose_qw": 0.20371538170734152, "p_ext_initial_height": 1.3504230976104736, "p_ext_final_height": 1.4854894876480103, "p_ext_total_length": 4.439121465851507, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.2150525728587212, "p_ext_retreat_score": 0.08291818101642573, "three_view_visibility": 0.9222222222222223, "three_view_whole_tray_visibility": 0.7282352941176471, "full_view_visibility": 0.9537270233196159, "full_view_whole_tray_visibility": 0.9733282411560427, "front_grasp_visibility": 0.6888888888888889, "front_tray_visibility": 0.6431372549019608, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 62.0, "front_tray_projected_count": 255.0, "front_tray_visible_count": 164.0, "overhead_grasp_visibility": 0.12222222222222222, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 11.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.75, "wrist_left_tray_visibility": 0.23846153846153847, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 31.0, "over_shoulder_left_grasp_visibility": 0.32222222222222224, "over_shoulder_left_tray_visibility": 0.664804469273743, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 29.0, "over_shoulder_left_tray_projected_count": 179.0, "over_shoulder_left_tray_visible_count": 119.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16666666666666666, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 24.0, "over_shoulder_right_tray_visible_count": 4.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0313.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0313.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b6bf004de061b23253dbe622bef8863b4ad97b0
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0313.debug.json
@@ -0,0 +1 @@
+{"frame_index": 313, "state": {"door_angle": 0.3931065797805786, "tray_height": 1.3504232168197632, "tray_grasped_left": false, "left_arm_pose": [0.2771880030632019, 0.22796455025672913, 1.3549619913101196, 0.20400789380073547, 0.6776489019393921, 0.6768731474876404, 0.2025231271982193], "right_arm_pose": [0.23667871952056885, -0.34832078218460083, 1.0849608182907104, -0.5680142045021057, 0.5667204856872559, 0.5616554617881775, 0.20181913673877716], "left_arm_joint_positions": [0.14307713508605957, -0.4204597473144531, -0.018377035856246948, -2.312814712524414, 1.8135359287261963, 2.338230609893799, 0.43258488178253174], "right_arm_joint_positions": [-0.289539098739624, 0.2587454319000244, 0.8985106945037842, -2.148991823196411, -1.4083548784255981, 1.5157301425933838, -2.773256778717041], "pregrasp_goal_pose": [0.2673705124484226, 0.1883671180209926, 1.3438646699552255, 0.23504211507629383, 0.7243743358289316, 0.6152043464023792, 0.20386426342171401], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0313.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0313.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd49043cbcf80d4e3df4c03474f9392ea6830a82
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0313.json
@@ -0,0 +1 @@
+{"frame_index": 313, "time_norm": 0.9720496894409938, "door_angle": 0.3931065797805786, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23667871952056885, "right_arm_pose_y": -0.34832078218460083, "right_arm_pose_z": 1.0849608182907104, "right_arm_pose_qx": -0.5680142045021057, "right_arm_pose_qy": 0.5667204856872559, "right_arm_pose_qz": 0.5616554617881775, "right_arm_pose_qw": 0.20181913673877716, "left_arm_pose_x": 0.2771880030632019, "left_arm_pose_y": 0.22796455025672913, "left_arm_pose_z": 1.3549619913101196, "left_arm_pose_qx": 0.20400789380073547, "left_arm_pose_qy": 0.6776489019393921, "left_arm_pose_qz": 0.6768731474876404, "left_arm_pose_qw": 0.2025231271982193, "tray_height": 1.3504232168197632, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8490473858686618, "pregrasp_distance": 0.04227872163262291, "pregrasp_position_error": 0.04227872163262291, "pregrasp_orientation_error_deg": 9.556728994550747, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.32797215716254924, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2673705124484226, "p_pre_best_target_pose_y": 0.1883671180209926, "p_pre_best_target_pose_z": 1.3438646699552255, "p_pre_best_target_pose_qx": 0.23504211507629383, "p_pre_best_target_pose_qy": 0.7243743358289316, "p_pre_best_target_pose_qz": 0.6152043464023792, "p_pre_best_target_pose_qw": 0.20386426342171401, "p_ext_initial_height": 1.3504232168197632, "p_ext_final_height": 1.491897463798523, "p_ext_total_length": 4.442657522890112, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.21500293871051812, "p_ext_retreat_score": 0.08278337611313089, "three_view_visibility": 0.9194444444444445, "three_view_whole_tray_visibility": 0.7252488687782805, "full_view_visibility": 0.9520744170096022, "full_view_whole_tray_visibility": 0.9730351449050102, "front_grasp_visibility": 0.6777777777777778, "front_tray_visibility": 0.6392156862745098, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 61.0, "front_tray_projected_count": 255.0, "front_tray_visible_count": 163.0, "overhead_grasp_visibility": 0.12222222222222222, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 11.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.75, "wrist_left_tray_visibility": 0.23846153846153847, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 31.0, "over_shoulder_left_grasp_visibility": 0.32222222222222224, "over_shoulder_left_tray_visibility": 0.664804469273743, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 29.0, "over_shoulder_left_tray_projected_count": 179.0, "over_shoulder_left_tray_visible_count": 119.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16666666666666666, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 24.0, "over_shoulder_right_tray_visible_count": 4.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0322.debug.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0322.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bc8db847dbcc98145403118533158edf0d601aa
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0322.debug.json
@@ -0,0 +1 @@
+{"frame_index": 322, "state": {"door_angle": 0.3933616876602173, "tray_height": 1.3504217863082886, "tray_grasped_left": false, "left_arm_pose": [0.27729859948158264, 0.22800734639167786, 1.3545160293579102, 0.2043510228395462, 0.6778663992881775, 0.676643431186676, 0.20221681892871857], "right_arm_pose": [0.23665213584899902, -0.3483743667602539, 1.0850027799606323, -0.5679323077201843, 0.5667297840118408, 0.5617779493331909, 0.20168237388134003], "left_arm_joint_positions": [0.1430375576019287, -0.4199635982513428, -0.018279999494552612, -2.3131556510925293, 1.8131186962127686, 2.338426113128662, 0.43307626247406006], "right_arm_joint_positions": [-0.2894892692565918, 0.25870633125305176, 0.8985767364501953, -2.1489510536193848, -1.408525824546814, 1.5157208442687988, -2.772890567779541], "pregrasp_goal_pose": [0.2673477739378388, 0.18825386340480235, 1.343862299297334, 0.23483003306643735, 0.7244362958933023, 0.615274463131165, 0.20367681208489244], "pregrasp_position_error": 0.04234218112938268, "pregrasp_orientation_error_deg": 9.49793204848492}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.6431372549019608, "tray_projected_count": 255, "tray_visible_count": 164}, "overhead": {"grasp_visibility": 0.12222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 11, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.75, "grasp_projected_count": 84, "grasp_visible_count": 63, "tray_visibility": 0.24615384615384617, "tray_projected_count": 130, "tray_visible_count": 32}, "over_shoulder_left": {"grasp_visibility": 0.3111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 28, "tray_visibility": 0.664804469273743, "tray_projected_count": 179, "tray_visible_count": 119}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.16666666666666666, "tray_projected_count": 24, "tray_visible_count": 4}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.32763002009428566, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.2673477739378388, 0.18825386340480235, 1.343862299297334, 0.23483003306643735, 0.7244362958933023, 0.615274463131165, 0.20367681208489244], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2673477739378388, 0.18825386340480235, 1.343862299297334, 0.23483003306643735, 0.7244362958933023, 0.615274463131165, 0.20367681208489244], "strict_path_found": true, "strict_length": 0.32763002009428566, "assisted": null, "candidate_score": 1.0, "source": "strict"}]}, "p_ext": {"initial_height": 1.3504217863082886, "final_height": 1.4793479442596436, "already_grasped_start": false, "already_grasped_end": true, "total_length": 4.436425166148782, "num_milestones": 5, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.21507488052728452, "retreat_score": 0.08302499894841761, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.32763002009428566, "reliability": 1.0, "planner_score": 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1.0, "planner_score": 0.23553831806451148, "height_before": 1.263848900794983, "height_after": 1.4793479442596436}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0322.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0322.json
new file mode 100644
index 0000000000000000000000000000000000000000..29fa5752a15d4da1012d96c128e2841c144bc804
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/frame_rows/frame_0322.json
@@ -0,0 +1 @@
+{"frame_index": 322, "time_norm": 1.0, "door_angle": 0.3933616876602173, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23665213584899902, "right_arm_pose_y": -0.3483743667602539, "right_arm_pose_z": 1.0850027799606323, "right_arm_pose_qx": -0.5679323077201843, "right_arm_pose_qy": 0.5667297840118408, "right_arm_pose_qz": 0.5617779493331909, "right_arm_pose_qw": 0.20168237388134003, "left_arm_pose_x": 0.27729859948158264, "left_arm_pose_y": 0.22800734639167786, "left_arm_pose_z": 1.3545160293579102, "left_arm_pose_qx": 0.2043510228395462, "left_arm_pose_qy": 0.6778663992881775, "left_arm_pose_qz": 0.676643431186676, "left_arm_pose_qw": 0.20221681892871857, "tray_height": 1.3504217863082886, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8488208090745437, "pregrasp_distance": 0.04234218112938268, "pregrasp_position_error": 0.04234218112938268, "pregrasp_orientation_error_deg": 9.49793204848492, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.32763002009428566, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2673477739378388, "p_pre_best_target_pose_y": 0.18825386340480235, "p_pre_best_target_pose_z": 1.343862299297334, "p_pre_best_target_pose_qx": 0.23483003306643735, "p_pre_best_target_pose_qy": 0.7244362958933023, "p_pre_best_target_pose_qz": 0.615274463131165, "p_pre_best_target_pose_qw": 0.20367681208489244, "p_ext_initial_height": 1.3504217863082886, "p_ext_final_height": 1.4793479442596436, "p_ext_total_length": 4.436425166148782, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.21507488052728452, "p_ext_retreat_score": 0.08302499894841761, "three_view_visibility": 0.9194444444444445, "three_view_whole_tray_visibility": 0.7309803921568627, "full_view_visibility": 0.9512887517146776, "full_view_whole_tray_visibility": 0.9735976528615372, "front_grasp_visibility": 0.6777777777777778, "front_tray_visibility": 0.6431372549019608, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 61.0, "front_tray_projected_count": 255.0, "front_tray_visible_count": 164.0, "overhead_grasp_visibility": 0.12222222222222222, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 11.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.75, "wrist_left_tray_visibility": 0.24615384615384617, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 32.0, "over_shoulder_left_grasp_visibility": 0.3111111111111111, "over_shoulder_left_tray_visibility": 0.664804469273743, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 28.0, "over_shoulder_left_tray_projected_count": 179.0, "over_shoulder_left_tray_visible_count": 119.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.16666666666666666, "over_shoulder_right_grasp_projected_count": 0.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 24.0, "over_shoulder_right_tray_visible_count": 4.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/templates.json b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/.episode18.tmp/templates.json
@@ -0,0 +1,244 @@
+{
+  "template_mode": "per_episode",
+  "template_episode": "episode0",
+  "template_frames": {
+    "pregrasp": 229,
+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
+      177,
+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
+      239,
+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
+      315
+    ]
+  },
+  "templates": {
+    "approach_rel_poses": [
+      [
+        -0.3625197505146321,
+        0.08372429131714548,
+        0.13691903626392898,
+        0.6416348447407467,
+        0.6410872565393582,
+        0.29868034011062794,
+        0.2968196589661076
+      ],
+      [
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diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode0.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode0.attempt01.log
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index 0000000000000000000000000000000000000000..58a1424cd1f2c057b965a0375fa8ae4a0856fece
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode0.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+{
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+  },
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+    "auroc_phase_yready": 0.9957264957264957,
+    "auprc_phase_yready": 0.979381443298969,
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+    "baseline_auroc_door_yext": 0.0,
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+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.6292659082829719,
+    "baseline_auprc_whole_vis_yext": 0.5088515579673182,
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+    "pre_ready_hold_open_increases_pext": 0.0,
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+    "pre_ready_extract_trials": 2.0,
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+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
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+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode1.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode1.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..a17cffc7d51e76ac50f66aa6d767fc47b5b3f010
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode1.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "dense_boundary_error_to_retrieve_frames": NaN,
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+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode10.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode10.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..83c9172892b68c43829476ec6bf02ddcf4ebcc8f
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode10.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode11.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode11.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..936d1ccc3c670364c548706665c4cbfc55103084
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode11.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode12.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode12.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..d514a9e4b50560030ffa28c67a12d2be82290c12
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode12.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode13.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode13.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..4a0b8b11c9c3b95bfe9317bfe5d0660a1e9ddb11
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode13.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode14.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode14.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..36ca8d0ceb832c11fc5a26a9bce52ca05b27f062
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode14.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode15.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode15.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..b728f5fabc7ed8d924e8d3f9d3b0878f77ea685a
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode15.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode16.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode16.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..9cbc36ad371fbe3aaf6ad49df29b441c6719a9b0
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode16.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "dense_boundary_error_fraction": NaN,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": NaN,
+    "auroc_vret_ypre_three": NaN,
+    "auprc_vret_ypre_three": NaN,
+    "auroc_vret_ypre_full": NaN,
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+    "auroc_ppre_ypre": NaN,
+    "auprc_ppre_ypre": NaN,
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+    "auprc_pext_yext": NaN,
+    "auroc_phase_yretrieve": NaN,
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+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": NaN,
+    "auprc_phase_yready": NaN,
+    "f1_phase_yready": NaN,
+    "baseline_auroc_door_yext": NaN,
+    "baseline_auprc_door_yext": NaN,
+    "baseline_auroc_time_yext": NaN,
+    "baseline_auprc_time_yext": NaN,
+    "baseline_auroc_whole_vis_yext": NaN,
+    "baseline_auprc_whole_vis_yext": NaN,
+    "pre_ready_open_more_increases_pext": 0.0,
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+    "pre_ready_extract_trials": 2.0,
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+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 0.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 0.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode17.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode17.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..f4ebf3df82260a2a6e0a0dbb67431f936493b0b1
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode17.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode18.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode18.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode2.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode2.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..e6b48fb3c80a2a2eb7bb94ee361c4cb78e49cdf8
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode2.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode3.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode3.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..45d4866d497f896826f04cb06a6ab9f4a5576936
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode3.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode4.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode4.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..3e826ff0685a59f9c149680ae1656d98800c4946
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode4.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode5.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode5.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..2b9c1360ace47ff200e6725ad0c8766694ed9d8c
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode5.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "key_boundary_error_keyframes": 1.0,
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode6.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode6.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..972c9f895ad425a74472cac9abc4cc9d6e6394d5
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode6.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.9972431740990694,
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+}
diff --git a/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode7.attempt01.log b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode7.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..b9e09d00bf0ab6d1459a095d62e28161de2d5424
--- /dev/null
+++ b/artifacts/results/metric_iter30_full100_single_pass_full_logging_fixed_templates/logs/episode7.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "dense_boundary_error_frames": 75.0,
+    "dense_boundary_error_fraction": 0.24752475247524752,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9984728324938377,
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@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 306.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 142.0,
+    "pext_cross_frame": 225.0,
+    "phase_cross_frame": 149.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 226.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 77.0,
+    "dense_boundary_error_fraction": 0.25163398692810457,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.8753849478632018,
+    "auprc_vret_ypre_three": 0.8510210868052471,
+    "auroc_vret_ypre_full": 0.9079096655681018,
+    "auprc_vret_ypre_full": 0.8988952165193357,
+    "auroc_ppre_ypre": 0.9024798746555729,
+    "auprc_ppre_ypre": 0.8967574108393139,
+    "auroc_pext_yext": 0.8765432098765432,
+    "auprc_pext_yext": 0.9092229484386347,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.8925331858407081,
+    "auprc_phase_yready": 0.8553893623176969,
+    "f1_phase_yready": 0.6751054852320676,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.14757541352644754,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.8278737997256516,
+    "baseline_auprc_whole_vis_yext": 0.7697138535589281,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 306.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 142.0,
+    "pext_cross_frame": 225.0,
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+    "ready_cross_frame": 226.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
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+    "dense_boundary_error_fraction": 0.25163398692810457,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.8753849478632018,
+    "auprc_vret_ypre_three": 0.8510210868052471,
+    "auroc_vret_ypre_full": 0.9079096655681018,
+    "auprc_vret_ypre_full": 0.8988952165193357,
+    "auroc_ppre_ypre": 0.9024798746555729,
+    "auprc_ppre_ypre": 0.8967574108393139,
+    "auroc_pext_yext": 0.8765432098765432,
+    "auprc_pext_yext": 0.9092229484386347,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.8925331858407081,
+    "auprc_phase_yready": 0.8553893623176969,
+    "f1_phase_yready": 0.6751054852320676,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.14757541352644754,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.8278737997256516,
+    "baseline_auprc_whole_vis_yext": 0.7697138535589281,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode22.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode22.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..5ff0509623c408d5d6972ae1085d4b80e3d0b7bd
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode22.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 309.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 128.0,
+    "pext_cross_frame": 221.0,
+    "phase_cross_frame": 150.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 222.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 72.0,
+    "dense_boundary_error_fraction": 0.23300970873786409,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9871458816412945,
+    "auprc_vret_ypre_three": 0.9827695843814603,
+    "auroc_vret_ypre_full": 0.9817017844540781,
+    "auprc_vret_ypre_full": 0.9748703365397854,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 0.9999999999999999,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9909909909909911,
+    "auprc_phase_yready": 0.9560439560439561,
+    "f1_phase_yready": 0.7073170731707317,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15998356552980425,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9145413410119292,
+    "baseline_auprc_whole_vis_yext": 0.8888174182096881,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 309.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 128.0,
+    "pext_cross_frame": 221.0,
+    "phase_cross_frame": 150.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 222.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 72.0,
+    "dense_boundary_error_fraction": 0.23300970873786409,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9871458816412945,
+    "auprc_vret_ypre_three": 0.9827695843814603,
+    "auroc_vret_ypre_full": 0.9817017844540781,
+    "auprc_vret_ypre_full": 0.9748703365397854,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 0.9999999999999999,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9909909909909911,
+    "auprc_phase_yready": 0.9560439560439561,
+    "f1_phase_yready": 0.7073170731707317,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15998356552980425,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9145413410119292,
+    "baseline_auprc_whole_vis_yext": 0.8888174182096881,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode23.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode23.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..5b010a05e8ade146246a7d4d8e9c2b1e874dc84d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode23.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 341.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 164.0,
+    "pext_cross_frame": 257.0,
+    "phase_cross_frame": 169.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 257.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 88.0,
+    "dense_boundary_error_fraction": 0.25806451612903225,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 3.0,
+    "auroc_vret_ypre_three": 0.9989284085727314,
+    "auprc_vret_ypre_three": 0.9968933079704193,
+    "auroc_vret_ypre_full": 0.9987232102143182,
+    "auprc_vret_ypre_full": 0.9965905571138831,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9961089494163424,
+    "auprc_phase_yready": 0.9767441860465116,
+    "f1_phase_yready": 0.65625,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.13627310715016128,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.9344543264776728,
+    "baseline_auprc_whole_vis_yext": 0.904471281133606,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 341.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 164.0,
+    "pext_cross_frame": 257.0,
+    "phase_cross_frame": 169.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 257.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 88.0,
+    "dense_boundary_error_fraction": 0.25806451612903225,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 3.0,
+    "auroc_vret_ypre_three": 0.9989284085727314,
+    "auprc_vret_ypre_three": 0.9968933079704193,
+    "auroc_vret_ypre_full": 0.9987232102143182,
+    "auprc_vret_ypre_full": 0.9965905571138831,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9961089494163424,
+    "auprc_phase_yready": 0.9767441860465116,
+    "f1_phase_yready": 0.65625,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.13627310715016128,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.9344543264776728,
+    "baseline_auprc_whole_vis_yext": 0.904471281133606,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode24.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode24.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..126e4452942112a379d7df0d919c58ca491f1000
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode24.attempt01.log
@@ -0,0 +1,141 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode25.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode25.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..76e28eb3b4eb4f4a3434e3973307c154f2991fe1
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode25.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode26.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode26.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..6b439dcd8b16c030d1e59a2094b3cccdc21c5763
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode26.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode27.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode27.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..a41770169bce813ac3ae0b488f81e12c06dda293
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode27.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode28.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode28.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..177552282e1014fb151603440564bd17e2e60634
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode28.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode29.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode29.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..2317f4eb071bb44cd361d8e36c8b680992b5a0ff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode29.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
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+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode30.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode30.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..2853e9511f70c2d0591eb7d4252bda8375bb43eb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode30.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
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+}
diff --git a/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode31.attempt01.log b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode31.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..2f64f189192b85ac92245d0d822ac1e46ba734d4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardA_ep18_45/logs/episode31.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "num_keyframes": 15.0,
+    "phase_switch_rises": 1.0,
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+    "phase_cross_frame": 145.0,
+    "retrieve_cross_frame": -1.0,
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+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 89.0,
+    "dense_boundary_error_fraction": 0.28253968253968254,
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+    "key_boundary_error_keyframes": 1.0,
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+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9293939076729824,
+    "baseline_auprc_whole_vis_yext": 0.9073226170974391,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
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+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 315.0,
+    "num_keyframes": 15.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 145.0,
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+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 234.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 89.0,
+    "dense_boundary_error_fraction": 0.28253968253968254,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9973401534526853,
+    "auprc_vret_ypre_three": 0.9923845255408534,
+    "auroc_vret_ypre_full": 0.9980562659846548,
+    "auprc_vret_ypre_full": 0.9945847355703026,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
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+    "auprc_phase_yready": 0.9529411764705882,
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+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1448577022164298,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9293939076729824,
+    "baseline_auprc_whole_vis_yext": 0.9073226170974391,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0000.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0000.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..343edff5fd299f9e2ef42242170a73ff90ad38c2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0000.debug.json
@@ -0,0 +1 @@
+{"frame_index": 0, "state": {"door_angle": 1.5707961320877075, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.30248963832855225, 0.06815439462661743, 1.4700095653533936, -0.04330586642026901, 0.9918965101242065, 0.005206211935728788, 0.11932709068059921], "right_arm_pose": [0.2451503425836563, -0.24187564849853516, 1.4707318544387817, -0.9927915930747986, -1.8442838154442143e-06, 0.11985339224338531, 8.720287951291539e-06], "left_arm_joint_positions": [3.579856638680212e-06, 0.17576292157173157, 6.708771252306178e-06, -0.873647153377533, -1.2750280802720226e-05, 1.221355676651001, 0.7854083776473999], "right_arm_joint_positions": [6.917716746102087e-06, 0.17589929699897766, -1.8086760974256322e-05, -0.873412549495697, -2.3240698283188976e-05, 1.2214174270629883, 0.7854055166244507], "pregrasp_goal_pose": [0.2781878114612756, 0.22671159794690088, 1.0409301873919286, 0.07233721730037865, 0.758119524881737, 0.6447668653214566, 0.06555762632882642], "pregrasp_position_error": 0.4580830471711811, "pregrasp_orientation_error_deg": 81.06754462431515}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 204, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 197, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 83, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 130, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.2781878114612756, 0.22671159794690088, 1.0409301873919286, 0.07233721730037865, 0.758119524881737, 0.6447668653214566, 0.06555762632882642], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 3.0186313195061523, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0028154850006103516, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.039236432758425255, "step_quality_min": -0.9739537206109087, "step_quality_max": 0.7423335475998918, "alignment_signed_mean": -0.16073676062651607, "alignment_abs_mean": 0.7119313200163845, "alignment_min": -0.9968363874327658, "alignment_max": 0.9968363874327658, "door_contact_steps": 16, "path_steps": 66}, {"path_found": true, "path_length": 3.015789111563957, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.004519224166870117, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.06300630080051436, "step_quality_min": -0.8389087388194681, "step_quality_max": 0.6770647267121886, "alignment_signed_mean": -0.1053934141559945, "alignment_abs_mean": 0.6778823602233705, "alignment_min": -0.997981129389798, "alignment_max": 0.997981129389798, "door_contact_steps": 17, "path_steps": 66}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 1, "target_pose": [0.25818781146127556, 0.22671159794690088, 1.0409301873919286, 0.07233721730037865, 0.758119524881737, 0.6447668653214566, 0.06555762632882642], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 3.069633305101726, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.005072593688964844, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.06989179006023517, "step_quality_min": -0.5424630337581345, "step_quality_max": 0.6501333963241678, "alignment_signed_mean": -0.2068670186027663, "alignment_abs_mean": 0.6937654015868375, "alignment_min": -0.9900164558836414, "alignment_max": 0.9900164558836414, "door_contact_steps": 16, "path_steps": 67}, {"path_found": true, "path_length": 3.069668012102277, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.002980947494506836, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.14662613648929057, "step_quality_min": -0.6571581544880823, "step_quality_max": 0.7021998077502966, "alignment_signed_mean": -0.1827775826456661, "alignment_abs_mean": 0.7433446212472845, "alignment_min": -0.9941202021551111, "alignment_max": 0.9941202021551111, "door_contact_steps": 16, "path_steps": 67}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}, {"goal_index": 2, "target_pose": [0.2981878114612756, 0.22671159794690088, 1.0409301873919286, 0.07233721730037865, 0.758119524881737, 0.6447668653214566, 0.06555762632882642], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 2.961902250482256, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.0018422603607177734, "door_quality": 0.01808515298866213, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": 0.025835932840945902, "step_quality_min": -0.9442374249193388, "step_quality_max": 0.7075324031471167, "alignment_signed_mean": -0.21310806246507488, "alignment_abs_mean": 0.6281145938943521, 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"median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474815368652344, "final_height": 1.0474815368652344, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474815368652344}], "score": 0.0007327397664388015}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0000.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0000.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d9154dcc0b283eb63b60755e63553a4eddd1d60
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0000.json
@@ -0,0 +1 @@
+{"frame_index": 0, "time_norm": 0.0, "door_angle": 1.5707961320877075, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2451503425836563, "right_arm_pose_y": -0.24187564849853516, "right_arm_pose_z": 1.4707318544387817, "right_arm_pose_qx": -0.9927915930747986, "right_arm_pose_qy": -1.8442838154442143e-06, "right_arm_pose_qz": 0.11985339224338531, "right_arm_pose_qw": 8.720287951291539e-06, "left_arm_pose_x": 0.30248963832855225, "left_arm_pose_y": 0.06815439462661743, "left_arm_pose_z": 1.4700095653533936, "left_arm_pose_qx": -0.04330586642026901, "left_arm_pose_qy": 0.9918965101242065, "left_arm_pose_qz": 0.005206211935728788, "left_arm_pose_qw": 0.11932709068059921, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4580830471711811, "pregrasp_position_error": 0.4580830471711811, "pregrasp_orientation_error_deg": 81.06754462431515, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 197.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0001.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0001.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..003c9caa124e84db2a111ed331b6c9159c24d656
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0001.debug.json
@@ -0,0 +1 @@
+{"frame_index": 1, "state": {"door_angle": 1.5707958936691284, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.3024280369281769, 0.0680883377790451, 1.469882845878601, -0.04326014965772629, 0.99189692735672, 0.005503456573933363, 0.11932649463415146], "right_arm_pose": [0.24514897167682648, -0.24170371890068054, 1.47028386592865, -0.9928619265556335, -0.0009236775222234428, 0.11926409602165222, 0.0006968927336856723], "left_arm_joint_positions": [-0.00035142540582455695, 0.17448285222053528, -7.244620064739138e-05, -0.8761753439903259, 0.0007759383879601955, 1.2225165367126465, 0.7854396104812622], "right_arm_joint_positions": [0.0003757512604352087, 0.175388365983963, -0.00015660795907024294, -0.875276505947113, -0.0013357349671423435, 1.2214820384979248, 0.7830694913864136], "pregrasp_goal_pose": [0.278188197364035, 0.22671152680937917, 1.0409310805741898, 0.0723339780958459, 0.7581247839018739, 0.6447606371158391, 0.06556163872680344], "pregrasp_position_error": 0.45798308143207556, "pregrasp_orientation_error_deg": 81.03208452785506}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 204, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 197, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.0, "grasp_projected_count": 83, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 130, "tray_visible_count": 0}}}, "p_pre": {"tray_grasped_left": false, "source": "none", "best_goal_index": -1, "num_goal_poses": 3, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 0.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": [{"goal_index": 0, "target_pose": [0.278188197364035, 0.22671152680937917, 1.0409310805741898, 0.0723339780958459, 0.7581247839018739, 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{"goal_index": 1, "target_pose": [0.258188197364035, 0.22671152680937917, 1.0409310805741898, 0.0723339780958459, 0.7581247839018739, 0.6447606371158391, 0.06556163872680344], "strict_path_found": false, "strict_length": 0.0, "assisted": {"attempts": [{"path_found": true, "path_length": 3.066177951444902, "base_score": 0.0, "final_score": 0.0, "bump_applied": false, "post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.003240346908569336, "door_quality": 0.0, "collision_names": ["oven_door", "oven_door_visual", "oven_frame0", "oven_knob_8"], "bad_collision_names": ["oven_frame0"], "step_quality_mean": -0.12354626054363688, "step_quality_min": -0.6647471992506455, "step_quality_max": 0.6690686781003085, "alignment_signed_mean": -0.20330463095213738, "alignment_abs_mean": 0.7421717968167095, "alignment_min": -0.9920085978319119, "alignment_max": 0.9920085978319119, "door_contact_steps": 16, "path_steps": 67}, {"path_found": true, 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0001.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0001.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c923b186267dc339dcf65ae0ac26c7869314197
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0001.json
@@ -0,0 +1 @@
+{"frame_index": 1, "time_norm": 0.0031847133757961785, "door_angle": 1.5707958936691284, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24514897167682648, "right_arm_pose_y": -0.24170371890068054, "right_arm_pose_z": 1.47028386592865, "right_arm_pose_qx": -0.9928619265556335, "right_arm_pose_qy": -0.0009236775222234428, "right_arm_pose_qz": 0.11926409602165222, "right_arm_pose_qw": 0.0006968927336856723, "left_arm_pose_x": 0.3024280369281769, "left_arm_pose_y": 0.0680883377790451, "left_arm_pose_z": 1.469882845878601, "left_arm_pose_qx": -0.04326014965772629, "left_arm_pose_qy": 0.99189692735672, "left_arm_pose_qz": 0.005503456573933363, "left_arm_pose_qw": 0.11932649463415146, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.45798308143207556, "pregrasp_position_error": 0.45798308143207556, "pregrasp_orientation_error_deg": 81.03208452785506, "p_pre": 0.0, "p_ext": 0.0007315476735432937, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474811792373657, "p_ext_final_height": 1.0474811792373657, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 197.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0014.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0014.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..da56f963c8db3d5861453f06220bbb2e63cfdd99
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0014.debug.json
@@ -0,0 +1 @@
+{"frame_index": 14, "state": {"door_angle": 1.5707961320877075, "tray_height": 1.0474820137023926, "tray_grasped_left": false, "left_arm_pose": [0.29383447766304016, 0.053593967109918594, 1.420015811920166, -0.023866770789027214, 0.9909339547157288, 0.08059938997030258, 0.10480494052171707], "right_arm_pose": [0.25281715393066406, -0.2113187313079834, 1.3930548429489136, -0.9792432188987732, -0.1726626455783844, -0.004775138571858406, 0.10605447739362717], "left_arm_joint_positions": [-0.059688325971364975, -0.02302500605583191, -0.03710600361227989, -1.3036742210388184, 0.16961562633514404, 1.4217956066131592, 0.7707644701004028], "right_arm_joint_positions": [0.06269621849060059, 0.1085682213306427, -0.025670256465673447, -1.1646687984466553, -0.22312653064727783, 1.2318391799926758, 0.39392340183258057], "pregrasp_goal_pose": [0.27818853715393865, 0.22671134208191546, 1.04093152455232, 0.07233616862398004, 0.7581247343991806, 0.6447607360910722, 0.0655588208883724], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0014.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0014.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae55c37e7220dbdbe10d7a0f3c02204e680bb625
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0014.json
@@ -0,0 +1 @@
+{"frame_index": 14, "time_norm": 0.044585987261146494, "door_angle": 1.5707961320877075, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.25281715393066406, "right_arm_pose_y": -0.2113187313079834, "right_arm_pose_z": 1.3930548429489136, "right_arm_pose_qx": -0.9792432188987732, "right_arm_pose_qy": -0.1726626455783844, "right_arm_pose_qz": -0.004775138571858406, "right_arm_pose_qw": 0.10605447739362717, "left_arm_pose_x": 0.29383447766304016, "left_arm_pose_y": 0.053593967109918594, "left_arm_pose_z": 1.420015811920166, "left_arm_pose_qx": -0.023866770789027214, "left_arm_pose_qy": 0.9909339547157288, "left_arm_pose_qz": 0.08059938997030258, "left_arm_pose_qw": 0.10480494052171707, "tray_height": 1.0474820137023926, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4170363508146465, "pregrasp_position_error": 0.4170363508146465, "pregrasp_orientation_error_deg": 72.12734437107363, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 27.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 254.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0015.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0015.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f1b08a9ea4a90ca0c98c2a0d527f80d3667ba96
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0015.debug.json
@@ -0,0 +1 @@
+{"frame_index": 15, "state": {"door_angle": 1.5707958936691284, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.29269760847091675, 0.05176600068807602, 1.413733959197998, -0.02140936255455017, 0.9903596043586731, 0.09014904499053955, 0.10296950489282608], "right_arm_pose": [0.2545498013496399, -0.20844407379627228, 1.3863518238067627, -0.9751059412956238, -0.1893886774778366, -0.01791425235569477, 0.11392723023891449], "left_arm_joint_positions": [-0.06479883193969727, -0.03871914744377136, -0.042955126613378525, -1.3419804573059082, 0.18932640552520752, 1.4391145706176758, 0.7660390138626099], "right_arm_joint_positions": [0.06840062141418457, 0.10223153233528137, -0.028007950633764267, -1.1915178298950195, -0.24357759952545166, 1.2326774597167969, 0.35789406299591064], "pregrasp_goal_pose": [0.2781886954741863, 0.2267111591456122, 1.0409318781148302, 0.07233814573141888, 0.758123527748083, 0.644762131358972, 0.06555687082508838], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0015.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0015.json
new file mode 100644
index 0000000000000000000000000000000000000000..3635b20b0803d006f296661c1c5d5c6d1bae5b59
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0015.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0028.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0028.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..37dbba14a00ad5085d37318b0e76f1c88bce9966
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0028.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0028.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0028.json
new file mode 100644
index 0000000000000000000000000000000000000000..83105346fa5de927b44d4929bb93f83de91b88c9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0028.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0029.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0029.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ea2fd4f3f7b345221a1c991e7778aa9d17cebb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0029.debug.json
@@ -0,0 +1 @@
+{"frame_index": 29, "state": {"door_angle": 1.5707958936691284, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.2719762325286865, 0.01746295392513275, 1.2944118976593018, 0.024756256490945816, 0.9613023996353149, 0.2664884328842163, 0.06533610075712204], "right_arm_pose": [0.2901844382286072, -0.1684269905090332, 1.3018150329589844, -0.8603320717811584, -0.4215213358402252, -0.22121870517730713, 0.1822386085987091], "left_arm_joint_positions": [-0.12867307662963867, -0.18653270602226257, -0.16362115740776062, -1.85516357421875, 0.5275737047195435, 1.632129430770874, 0.6093317270278931], "right_arm_joint_positions": [0.14841222763061523, 0.01627519726753235, -0.06084844097495079, -1.5632314682006836, -0.5296834707260132, 1.2450110912322998, -0.14582717418670654], "pregrasp_goal_pose": [0.2781899846762712, 0.22671152106028897, 1.0409307262341783, 0.07233737178076627, 0.7581209660223501, 0.6447651481926643, 0.06555767840063993], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0029.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0029.json
new file mode 100644
index 0000000000000000000000000000000000000000..f44ea5bb269909de468446b03a6fde7e5dbbeb68
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0029.json
@@ -0,0 +1 @@
+{"frame_index": 29, "time_norm": 0.09235668789808917, "door_angle": 1.5707958936691284, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2901844382286072, "right_arm_pose_y": -0.1684269905090332, "right_arm_pose_z": 1.3018150329589844, "right_arm_pose_qx": -0.8603320717811584, "right_arm_pose_qy": -0.4215213358402252, "right_arm_pose_qz": -0.22121870517730713, "right_arm_pose_qw": 0.1822386085987091, "left_arm_pose_x": 0.2719762325286865, "left_arm_pose_y": 0.01746295392513275, "left_arm_pose_z": 1.2944118976593018, "left_arm_pose_qx": 0.024756256490945816, "left_arm_pose_qy": 0.9613023996353149, "left_arm_pose_qz": 0.2664884328842163, "left_arm_pose_qw": 0.06533610075712204, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3287495670429399, "pregrasp_position_error": 0.3287495670429399, "pregrasp_orientation_error_deg": 49.89897659912729, "p_pre": 0.0, "p_ext": 0.0007307529449462885, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474809408187866, "p_ext_final_height": 1.0474809408187866, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0042.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0042.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..69fb33aec6c1701274922ae60dd3b242cc3ec7f4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0042.debug.json
@@ -0,0 +1 @@
+{"frame_index": 42, "state": {"door_angle": 1.5707961320877075, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.2530786097049713, -0.010503321886062622, 1.1878875494003296, 0.06475334614515305, 0.9052940607070923, 0.4188099801540375, 0.029117638245224953], "right_arm_pose": [0.338243693113327, -0.1860307902097702, 1.214870572090149, 0.712793231010437, 0.6133068203926086, 0.33171698451042175, -0.07579299807548523], "left_arm_joint_positions": [-0.17431235313415527, -0.14307019114494324, -0.2820253074169159, -2.1169278621673584, 0.8015831708908081, 1.6367428302764893, 0.39428532123565674], "right_arm_joint_positions": [0.21209144592285156, -0.049841612577438354, -0.08488532900810242, -1.8555901050567627, -0.5114985704421997, 1.256281852722168, -0.5463792085647583], "pregrasp_goal_pose": [0.2781899668247567, 0.22671112169107, 1.04092790522361, 0.07233249672915736, 0.758117535500916, 0.6447691685106446, 0.06556318800238282], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0042.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0042.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec7332391b052ce2aedb899d7b2e6f10bd6f855
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0042.json
@@ -0,0 +1 @@
+{"frame_index": 42, "time_norm": 0.1337579617834395, "door_angle": 1.5707961320877075, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.338243693113327, "right_arm_pose_y": -0.1860307902097702, "right_arm_pose_z": 1.214870572090149, "right_arm_pose_qx": 0.712793231010437, "right_arm_pose_qy": 0.6133068203926086, "right_arm_pose_qz": 0.33171698451042175, "right_arm_pose_qw": -0.07579299807548523, "left_arm_pose_x": 0.2530786097049713, "left_arm_pose_y": -0.010503321886062622, "left_arm_pose_z": 1.1878875494003296, "left_arm_pose_qx": 0.06475334614515305, "left_arm_pose_qy": 0.9052940607070923, "left_arm_pose_qz": 0.4188099801540375, "left_arm_pose_qw": 0.029117638245224953, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2801756761650698, "pregrasp_position_error": 0.2801756761650698, "pregrasp_orientation_error_deg": 31.291344513901947, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 90.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0043.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0043.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b94f65cd0eabf130872ff753f5a5af7e911efbb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0043.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0043.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0043.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d8a72ef2e40025183560c3433d9400da0812c6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0043.json
@@ -0,0 +1 @@
+{"frame_index": 43, "time_norm": 0.13694267515923567, "door_angle": 1.5707958936691284, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.3408565819263458, "right_arm_pose_y": -0.18165460228919983, "right_arm_pose_z": 1.21116042137146, "right_arm_pose_qx": 0.7017641067504883, "right_arm_pose_qy": 0.6199539303779602, "right_arm_pose_qz": 0.3421076238155365, "right_arm_pose_qw": -0.07840073108673096, "left_arm_pose_x": 0.25326526165008545, "left_arm_pose_y": -0.011470876634120941, "left_arm_pose_z": 1.1863380670547485, "left_arm_pose_qx": 0.06566255539655685, "left_arm_pose_qy": 0.9043968319892883, "left_arm_pose_qz": 0.4206169545650482, "left_arm_pose_qw": 0.02891663648188114, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28017029591907633, "pregrasp_position_error": 0.28017029591907633, "pregrasp_orientation_error_deg": 31.06148565859604, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 109.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0044.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0044.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5958495b70afcc5440dd5e5c3ee1a262fd9dce10
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0044.debug.json
@@ -0,0 +1 @@
+{"frame_index": 44, "state": {"door_angle": 1.5707961320877075, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.25303107500076294, -0.01209314912557602, 1.1861481666564941, 0.06620575487613678, 0.9040178060531616, 0.42132002115249634, 0.029292011633515358], "right_arm_pose": [0.34475067257881165, -0.17122061550617218, 1.2107036113739014, 0.6791226863861084, 0.6297286748886108, 0.36681291460990906, -0.08765072375535965], "left_arm_joint_positions": [-0.17557048797607422, -0.1414477527141571, -0.28510424494743347, -2.1197404861450195, 0.8060241937637329, 1.6360206604003906, 0.3903597593307495], "right_arm_joint_positions": [0.22292566299438477, -0.06386753916740417, -0.09093901515007019, -1.9082469940185547, -0.5959728956222534, 1.2584080696105957, -0.6131340265274048], "pregrasp_goal_pose": [0.2781900734896785, 0.22671078910509496, 1.0409325377179073, 0.07233705722251967, 0.7581261203546753, 0.6447591136444304, 0.065557769644817], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0044.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0044.json
new file mode 100644
index 0000000000000000000000000000000000000000..347a3d1566dea5e803cbfc694826ce035bfdb9f6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0044.json
@@ -0,0 +1 @@
+{"frame_index": 44, "time_norm": 0.14012738853503184, "door_angle": 1.5707961320877075, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.34475067257881165, "right_arm_pose_y": -0.17122061550617218, "right_arm_pose_z": 1.2107036113739014, "right_arm_pose_qx": 0.6791226863861084, "right_arm_pose_qy": 0.6297286748886108, "right_arm_pose_qz": 0.36681291460990906, "right_arm_pose_qw": -0.08765072375535965, "left_arm_pose_x": 0.25303107500076294, "left_arm_pose_y": -0.01209314912557602, "left_arm_pose_z": 1.1861481666564941, "left_arm_pose_qx": 0.06620575487613678, "left_arm_pose_qy": 0.9040178060531616, "left_arm_pose_qz": 0.42132002115249634, "left_arm_pose_qw": 0.029292011633515358, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28062051779489094, "pregrasp_position_error": 0.28062051779489094, "pregrasp_orientation_error_deg": 30.9620537792184, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 75.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 173.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0056.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0056.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b1598480b88eb1e776628ef9f8a5395d430252
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0056.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0056.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0056.json
new file mode 100644
index 0000000000000000000000000000000000000000..9668c4b744b602a0fc6c125e69c42b400f3aa066
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0056.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0057.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0057.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94b75dfea6ce379990868058b39f74e70ca8bd2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0057.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0057.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0057.json
new file mode 100644
index 0000000000000000000000000000000000000000..00f08bb6e3dbab06ae98e40c5ab06839746a1f47
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0057.json
@@ -0,0 +1 @@
+{"frame_index": 57, "time_norm": 0.18152866242038215, "door_angle": 1.5707958936691284, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.37916454672813416, "right_arm_pose_y": -0.10836831480264664, "right_arm_pose_z": 1.19070565700531, "right_arm_pose_qx": 0.38183069229125977, "right_arm_pose_qy": 0.7084408402442932, "right_arm_pose_qz": 0.5871341228485107, "right_arm_pose_qw": -0.0871228277683258, "left_arm_pose_x": 0.25304505228996277, "left_arm_pose_y": -0.012743540108203888, "left_arm_pose_z": 1.1866236925125122, "left_arm_pose_qx": 0.06640823185443878, "left_arm_pose_qy": 0.9038205742835999, "left_arm_pose_qz": 0.4216746389865875, "left_arm_pose_qw": 0.029815128073096275, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2814205076930885, "pregrasp_position_error": 0.2814205076930885, "pregrasp_orientation_error_deg": 30.90868209269187, "p_pre": 0.0, "p_ext": 0.0007335344950358067, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474817752838135, "p_ext_final_height": 1.0474817752838135, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0070.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0070.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6becd3bc4642af622c8578e06876835114bfa5a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0070.debug.json
@@ -0,0 +1 @@
+{"frame_index": 70, "state": {"door_angle": 1.5707961320877075, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.2531191110610962, -0.012772232294082642, 1.1865869760513306, 0.066497303545475, 0.903853714466095, 0.42157989740371704, 0.02995005063712597], "right_arm_pose": [0.4192076027393341, -0.09375230967998505, 1.1476188898086548, 0.07554103434085846, 0.7098667025566101, 0.6991015672683716, 0.040496278554201126], "left_arm_joint_positions": [-0.17586326599121094, -0.1415705382823944, -0.2856740653514862, -2.1198458671569824, 0.8067225217819214, 1.6360747814178467, 0.3898390531539917], "right_arm_joint_positions": [0.36835408210754395, -0.22053763270378113, -0.15107819437980652, -2.5850510597229004, -1.3176621198654175, 1.2785999774932861, -1.5351811647415161], "pregrasp_goal_pose": [0.27819105597901794, 0.2267108276140713, 1.0409294153027044, 0.07233449983113054, 0.7581190246055464, 0.6447674333501803, 0.06556082333479397], "pregrasp_position_error": 0.28141937283737145, "pregrasp_orientation_error_deg": 30.917215605594752}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 204, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 288, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, 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"post_assist_strict_feasible": false, "post_assist_strict_length": Infinity, "door_open_delta": -0.028247356414794922, "door_quality": 0.04468424260872999, "collision_names": ["oven_door"], "bad_collision_names": [], "step_quality_mean": 0.0638346322981857, "step_quality_min": -0.7452525870053883, "step_quality_max": 0.5567686422432381, "alignment_signed_mean": -0.5509790709678168, "alignment_abs_mean": 0.5509790709678168, "alignment_min": -0.9124327236371554, "alignment_max": -0.2310817918355677, "door_contact_steps": 9, "path_steps": 28}], "attempt_count": 2, "successful_attempt_count": 0, "reliability": 0.0, "base_score": 0.0, "score_before_reliability": 0.0, "median_path_length": 0.0, "door_quality": 0.0, "door_open_delta": 0.0, "step_quality_mean": 0.0, "alignment_abs_mean": 0.0, "alignment_signed_mean": 0.0, "collision_count": 0.0, "bad_collision_count": 0.0, "post_assist_strict_feasible": false, "bump_applied": false}, "candidate_score": 0.0, "source": "none"}]}, "p_ext": {"initial_height": 1.0474812984466553, "final_height": 1.0474812984466553, "already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0070.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0070.json
new file mode 100644
index 0000000000000000000000000000000000000000..adfad77876bb4d7c51e21e4e14593cf4bd5750d0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0070.json
@@ -0,0 +1 @@
+{"frame_index": 70, "time_norm": 0.2229299363057325, "door_angle": 1.5707961320877075, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4192076027393341, "right_arm_pose_y": -0.09375230967998505, "right_arm_pose_z": 1.1476188898086548, "right_arm_pose_qx": 0.07554103434085846, "right_arm_pose_qy": 0.7098667025566101, "right_arm_pose_qz": 0.6991015672683716, "right_arm_pose_qw": 0.040496278554201126, "left_arm_pose_x": 0.2531191110610962, "left_arm_pose_y": -0.012772232294082642, "left_arm_pose_z": 1.1865869760513306, "left_arm_pose_qx": 0.066497303545475, "left_arm_pose_qy": 0.903853714466095, "left_arm_pose_qz": 0.42157989740371704, "left_arm_pose_qw": 0.02995005063712597, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28141937283737145, "pregrasp_position_error": 0.28141937283737145, "pregrasp_orientation_error_deg": 30.917215605594752, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0071.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0071.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..231e70a57878c6a5f4cdc55ab248707ea0ca8fc5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0071.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0071.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0071.json
new file mode 100644
index 0000000000000000000000000000000000000000..e822640cc863a1c3895b83cdc277f597bf2f5ab9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0071.json
@@ -0,0 +1 @@
+{"frame_index": 71, "time_norm": 0.22611464968152867, "door_angle": 1.5707958936691284, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4206174612045288, "right_arm_pose_y": -0.09341657161712646, "right_arm_pose_z": 1.1460100412368774, "right_arm_pose_qx": 0.06295507401227951, "right_arm_pose_qy": 0.7076347470283508, "right_arm_pose_qz": 0.7022383213043213, "right_arm_pose_qw": 0.04637845978140831, "left_arm_pose_x": 0.25312769412994385, "left_arm_pose_y": -0.0127754807472229, "left_arm_pose_z": 1.186606526374817, "left_arm_pose_qx": 0.06647517532110214, "left_arm_pose_qy": 0.9038570523262024, "left_arm_pose_qz": 0.42157500982284546, "left_arm_pose_qw": 0.029966134577989578, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2814310307486131, "pregrasp_position_error": 0.2814310307486131, "pregrasp_orientation_error_deg": 30.91695495307099, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0084.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0084.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f7ff24748774c75280917018ebcdc9097bcf357
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0084.debug.json
@@ -0,0 +1 @@
+{"frame_index": 84, "state": {"door_angle": 1.5707961320877075, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.2531321048736572, -0.012509547173976898, 1.1866859197616577, 0.0663871318101883, 0.9038280844688416, 0.421664834022522, 0.029773065820336342], "right_arm_pose": [0.4337367117404938, -0.01177070289850235, 1.1445965766906738, 0.05197262391448021, 0.7055560350418091, 0.7048473358154297, 0.051766835153102875], "left_arm_joint_positions": [-0.17562079429626465, -0.1415371596813202, -0.2854418456554413, -2.1197996139526367, 0.806841254234314, 1.6357901096343994, 0.3902527093887329], "right_arm_joint_positions": [0.26644158363342285, -0.29660865664482117, -0.273799866437912, -2.675367832183838, -1.5245484113693237, 1.4075911045074463, -1.5965443849563599], "pregrasp_goal_pose": [0.2781915707285224, 0.22671054534837393, 1.0409315012844964, 0.0723382821294923, 0.7581215886522362, 0.6447644480075149, 0.06555636005398899], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0084.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0084.json
new file mode 100644
index 0000000000000000000000000000000000000000..2362ca7ffe56e0b89313584c5c47467e18a50e42
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0084.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0085.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0085.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..112e3c6934290908c53fa0d7dd142d0e7f26137d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0085.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0085.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0085.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1963e91259917c645288b63763c44ed275d9bbe
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0085.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0098.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0098.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8dac73180552a772de9fba526ce175100364436
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0098.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0098.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0098.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcfd1bb5965842bdbefe27057c61ccd959ddb10c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0098.json
@@ -0,0 +1 @@
+{"frame_index": 98, "time_norm": 0.31210191082802546, "door_angle": 1.5707961320877075, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.459097683429718, "right_arm_pose_y": 0.15935750305652618, "right_arm_pose_z": 1.1446921825408936, "right_arm_pose_qx": 0.05104270204901695, "right_arm_pose_qy": 0.7054258584976196, "right_arm_pose_qz": 0.7050235271453857, "right_arm_pose_qw": 0.0520656518638134, "left_arm_pose_x": 0.25314241647720337, "left_arm_pose_y": -0.012536488473415375, "left_arm_pose_z": 1.1867533922195435, "left_arm_pose_qx": 0.0663711279630661, "left_arm_pose_qy": 0.9038300514221191, "left_arm_pose_qz": 0.4216592013835907, "left_arm_pose_qw": 0.029827989637851715, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28130165775334437, "pregrasp_position_error": 0.28130165775334437, "pregrasp_orientation_error_deg": 30.90957181139212, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 144.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0099.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0099.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..efadf656e6ab58b1eced2718cbdeddbac47eb036
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0099.debug.json
@@ -0,0 +1 @@
+{"frame_index": 99, "state": {"door_angle": 1.5707353353500366, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.2530005872249603, -0.012424230575561523, 1.1856497526168823, 0.06682367622852325, 0.903789222240448, 0.4217528998851776, 0.028707735240459442], "right_arm_pose": [0.4594840705394745, 0.1619672179222107, 1.1451939344406128, 0.050964195281267166, 0.7052438259124756, 0.7052167654037476, 0.05199258029460907], "left_arm_joint_positions": [-0.17561912536621094, -0.14048954844474792, -0.28546807169914246, -2.120723247528076, 0.8066233396530151, 1.6357042789459229, 0.39038050174713135], "right_arm_joint_positions": [0.04998183250427246, -0.25063154101371765, -0.5607776641845703, -2.601571559906006, -1.906281590461731, 1.7393302917480469, -1.6043962240219116], "pregrasp_goal_pose": [0.2781959618724149, 0.22671149090525905, 1.0409304634430472, 0.07233816261968964, 0.758119580958644, 0.644766781505923, 0.0655567590900475], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0099.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0099.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eae33ea5f788a8125081998b2a5cce9f8ba226b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0099.json
@@ -0,0 +1 @@
+{"frame_index": 99, "time_norm": 0.31528662420382164, "door_angle": 1.5707353353500366, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4594840705394745, "right_arm_pose_y": 0.1619672179222107, "right_arm_pose_z": 1.1451939344406128, "right_arm_pose_qx": 0.050964195281267166, "right_arm_pose_qy": 0.7052438259124756, "right_arm_pose_qz": 0.7052167654037476, "right_arm_pose_qw": 0.05199258029460907, "left_arm_pose_x": 0.2530005872249603, "left_arm_pose_y": -0.012424230575561523, "left_arm_pose_z": 1.1856497526168823, "left_arm_pose_qx": 0.06682367622852325, "left_arm_pose_qy": 0.903789222240448, "left_arm_pose_qz": 0.4217528998851776, "left_arm_pose_qw": 0.028707735240459442, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2806499115459656, "pregrasp_position_error": 0.2806499115459656, "pregrasp_orientation_error_deg": 30.914984528040605, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 135.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0112.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0112.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2617d020160477ae03de4b09eae9cda16b53752
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0112.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0112.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0112.json
new file mode 100644
index 0000000000000000000000000000000000000000..960f7f932965c127ccfd0c75283afa099d2ffc60
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0112.json
@@ -0,0 +1 @@
+{"frame_index": 112, "time_norm": 0.35668789808917195, "door_angle": 1.4959977865219116, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4568488299846649, "right_arm_pose_y": 0.14338769018650055, "right_arm_pose_z": 1.1439082622528076, "right_arm_pose_qx": 0.045598339289426804, "right_arm_pose_qy": 0.6066133975982666, "right_arm_pose_qz": 0.7915714979171753, "right_arm_pose_qw": 0.05792680382728577, "left_arm_pose_x": 0.2531428933143616, "left_arm_pose_y": -0.012520313262939453, "left_arm_pose_z": 1.1866779327392578, "left_arm_pose_qx": 0.06636975705623627, "left_arm_pose_qy": 0.9038265943527222, "left_arm_pose_qz": 0.42167386412620544, "left_arm_pose_qw": 0.029728593304753304, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.281248860404299, "pregrasp_position_error": 0.281248860404299, "pregrasp_orientation_error_deg": 30.909668985456786, "p_pre": 0.0, "p_ext": 0.0007335344950358067, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474817752838135, "p_ext_final_height": 1.0474817752838135, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.022222222222222254, "three_view_whole_tray_visibility": 0.08823529411764708, "full_view_visibility": 0.022222222222222254, "full_view_whole_tray_visibility": 0.08823529411764708, "front_grasp_visibility": 0.022222222222222223, "front_tray_visibility": 0.08823529411764706, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 2.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 18.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 93.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0113.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0113.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf9fa7f6ba57d4b869a16d7cd5e7fc703472e476
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0113.debug.json
@@ -0,0 +1 @@
+{"frame_index": 113, "state": {"door_angle": 1.4652010202407837, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.25313863158226013, -0.012520723044872284, 1.1866976022720337, 0.06636945903301239, 0.9038286805152893, 0.4216691255569458, 0.029733208939433098], "right_arm_pose": [0.4556690752506256, 0.13520702719688416, 1.1422412395477295, 0.04501146078109741, 0.5953314304351807, 0.8000786900520325, 0.058554843068122864], "left_arm_joint_positions": [-0.17563819885253906, -0.1415373980998993, -0.2854773700237274, -2.1195335388183594, 0.8068541288375854, 1.6357176303863525, 0.39021170139312744], "right_arm_joint_positions": [0.0785834789276123, -0.10224339365959167, -0.49997615814208984, -2.6554951667785645, -1.9901281595230103, 1.4580950736999512, -1.419531226158142], "pregrasp_goal_pose": [0.2781941019323856, 0.22671022482503966, 1.040930364123133, 0.0723323753216505, 0.7581241577562066, 0.6447613611794345, 0.06556352672647349], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0113.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0113.json
new file mode 100644
index 0000000000000000000000000000000000000000..73eef24fa03e65356573ada06c90f6a1243ac539
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0113.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0126.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0126.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..91ce631c74ab67e0bb4310407bd9315e8620b94c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0126.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0126.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0126.json
new file mode 100644
index 0000000000000000000000000000000000000000..4876d252499f572c3ff200e3411899c426e1d262
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0126.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0127.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0127.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..47b3592ee329816d0abd1234649bffaf7a1f28b5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0127.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0127.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0127.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe6d12121a4791168f54e5d81ee70ba8d793f0b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0127.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0140.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0140.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..093dccda4772d5f34181c5b2bf24457639e1736c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0140.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0140.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0140.json
new file mode 100644
index 0000000000000000000000000000000000000000..269af4cb0428e834613c6342b835ec2d40332419
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0140.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0154.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0154.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b8531bfd16141c8c31ec85d6275c17edd8f48f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0154.debug.json
@@ -0,0 +1 @@
+{"frame_index": 154, "state": {"door_angle": 0.7297927141189575, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.25311732292175293, -0.012527622282505035, 1.1867423057556152, 0.06634535640478134, 0.9038230776786804, 0.4216788113117218, 0.029820026829838753], "right_arm_pose": [0.4246657192707062, -0.06515628099441528, 1.0234724283218384, 0.0036115169059485197, 0.4011980891227722, 0.9096283912658691, 0.10771875083446503], "left_arm_joint_positions": [-0.17562556266784668, -0.14156600832939148, -0.2854480445384979, -2.1196160316467285, 0.8068743944168091, 1.635817050933838, 0.3901609182357788], "right_arm_joint_positions": [0.3338654041290283, 0.5696249008178711, -0.21383953094482422, -2.4974608421325684, -1.430759072303772, 0.9080038070678711, -1.1243528127670288], "pregrasp_goal_pose": [0.27819607932128254, 0.2267090290831334, 1.0409304533436463, 0.07233803394966314, 0.7581198991941549, 0.6447664314330401, 0.06555666394230734], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0154.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0154.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1074877478212c07d0212bf9cdc10eb8cdd32ff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0154.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0168.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0168.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be413a6801959b0da0ee7307a9e75258806dc48
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0168.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0168.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0168.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fab8d91ff9fd5ef8e9552ffc46fcf5b4167db8e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0168.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0182.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0182.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aa534e776d92ef4d37685a70499243c363579a1
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0182.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0182.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0182.json
new file mode 100644
index 0000000000000000000000000000000000000000..1861b96c490cfc1ec03778f5dbd571140529c2ba
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0182.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0196.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0196.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dbbc94ffd38ccb361b6453593cdd973aebd4349
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0196.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0196.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0196.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c7552d925b7e56d18554c603d8f16b841e2955d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0196.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0210.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0210.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec28962d3842d2e37f05b1f7ef9109a901f0899
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0210.debug.json
@@ -0,0 +1 @@
+{"frame_index": 210, "state": {"door_angle": 0.7297927141189575, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.2537773847579956, 0.0023196041584014893, 1.178297758102417, 0.0657326951622963, 0.8962428569793701, 0.43763935565948486, 0.02999737672507763], "right_arm_pose": [0.4979267120361328, -0.38351714611053467, 1.0855060815811157, -0.6770772337913513, 0.4300729036331177, 0.5924804210662842, 0.07463661581277847], "left_arm_joint_positions": [-0.16414189338684082, -0.14425036311149597, -0.276454895734787, -2.156109094619751, 0.8484746217727661, 1.6572484970092773, 0.3759845495223999], "right_arm_joint_positions": [0.832082986831665, -0.6151926517486572, 0.25083494186401367, -2.947174549102783, -1.1348637342453003, 1.7285528182983398, -2.8020095825195312], "pregrasp_goal_pose": [0.278198597031595, 0.22670790246489042, 1.0409316878477601, 0.07233529475464602, 0.7581252602160431, 0.6447601118341042, 0.06555984398081578], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0210.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0210.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbe81a8bee2689f959cb39b03cdc1f0f89e042fe
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0210.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0224.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0224.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdfb0e4c9ac35f4ba941267cad97039501d69869
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0224.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0224.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0224.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b2213b3425f95881f99d6ca954080b718bafad9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0224.json
@@ -0,0 +1 @@
+{"frame_index": 224, "time_norm": 0.7133757961783439, "door_angle": 0.7195039987564087, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.497933954000473, "right_arm_pose_y": -0.3835179805755615, "right_arm_pose_z": 1.0854966640472412, "right_arm_pose_qx": -0.6771020889282227, "right_arm_pose_qy": 0.43003422021865845, "right_arm_pose_qz": 0.592477560043335, "right_arm_pose_qw": 0.07465685158967972, "left_arm_pose_x": 0.263198584318161, "left_arm_pose_y": 0.15570476651191711, "left_arm_pose_z": 1.101594090461731, "left_arm_pose_qx": 0.058333225548267365, "left_arm_pose_qy": 0.7972011566162109, "left_arm_pose_qz": 0.59940105676651, "left_arm_pose_qw": 0.042260296642780304, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.6622845146307241, "pregrasp_distance": 0.09458716438860595, "pregrasp_position_error": 0.09458716438860595, "pregrasp_orientation_error_deg": 7.537172230933211, "p_pre": 0.7762602367896626, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.7022107654036638, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.40852276533504167, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.12471354007720947, "p_pre_door_quality": 0.8046503617017756, "p_pre_step_quality_mean": 0.7209290881453938, "p_pre_step_quality_min": 0.581659382968842, "p_pre_step_quality_max": 0.9916932455435379, "p_pre_alignment_signed_mean": -0.06269376102774916, "p_pre_alignment_abs_mean": 0.14943759805539597, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2581993303719734, "p_pre_best_target_pose_y": 0.22670790420509054, "p_pre_best_target_pose_z": 1.040928913278849, "p_pre_best_target_pose_qx": 0.07233515946333402, "p_pre_best_target_pose_qy": 0.7581177472561169, "p_pre_best_target_pose_qz": 0.6447689391330846, "p_pre_best_target_pose_qw": 0.06556005742768492, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8337777777777777, "three_view_whole_tray_visibility": 0.893553683609366, "full_view_visibility": 0.9018688085676038, "full_view_whole_tray_visibility": 0.9074735865219874, "front_grasp_visibility": 0.022222222222222223, "front_tray_visibility": 0.08823529411764706, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 2.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 18.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.43333333333333335, "wrist_right_tray_visibility": 0.35, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 39.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 42.0, "wrist_left_grasp_visibility": 0.7, "wrist_left_tray_visibility": 0.8203883495145631, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 206.0, "wrist_left_tray_visible_count": 169.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.40963855421686746, "over_shoulder_right_tray_visibility": 0.13076923076923078, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 34.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 17.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0238.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0238.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5533df31d2a3e4b681f052bb599d54886de6ccb9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0238.debug.json
@@ -0,0 +1 @@
+{"frame_index": 238, "state": {"door_angle": 0.5708330869674683, "tray_height": 1.047359824180603, "tray_grasped_left": true, "left_arm_pose": [0.2700475752353668, 0.2670464515686035, 1.0461522340774536, 0.0526018925011158, 0.7058688998222351, 0.7045772671699524, 0.05052778497338295], "right_arm_pose": [0.49803900718688965, -0.3832741975784302, 1.0850361585617065, -0.6773017048835754, 0.42976778745651245, 0.5923688411712646, 0.07524096965789795], "left_arm_joint_positions": [0.06561589241027832, 0.1779632866382599, -0.06866642832756042, -2.394204616546631, 1.7638071775436401, 1.7001633644104004, -0.15516507625579834], "right_arm_joint_positions": [0.8321146965026855, -0.6146206855773926, 0.25078535079956055, -2.947920322418213, -1.1347306966781616, 1.728611946105957, -2.8021984100341797], "pregrasp_goal_pose": [0.27814699746297655, 0.22672807920413107, 1.040597872386291, 0.07211620214042402, 0.7577496743216993, 0.6451933755589117, 0.06588013804704294], "pregrasp_position_error": 0.041497261648663145, "pregrasp_orientation_error_deg": 9.476147136310866}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.08823529411764706, "tray_projected_count": 204, "tray_visible_count": 18}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.2833333333333333, "tray_projected_count": 120, "tray_visible_count": 34}, "wrist_left": {"grasp_visibility": 0.8554216867469879, "grasp_projected_count": 83, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.30952380952380953, "grasp_projected_count": 84, "grasp_visible_count": 26, "tray_visibility": 0.14615384615384616, "tray_projected_count": 130, "tray_visible_count": 19}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.047359824180603, "final_height": 1.3511580228805542, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.92089386205557, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.21097387941188667, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.8427796362554315, "reliability": 1.0, "planner_score": 0.3250727805160293, "height_before": 1.047359824180603, "height_after": 1.1354031562805176}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0781142258001386, "reliability": 1.0, "planner_score": 0.23752423124900182, "height_before": 1.1354031562805176, "height_after": 1.3511580228805542}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0238.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0238.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a476845b6c5c05938651b1e47b83aa54a4e3bd
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0238.json
@@ -0,0 +1 @@
+{"frame_index": 238, "time_norm": 0.7579617834394905, "door_angle": 0.5708330869674683, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.49803900718688965, "right_arm_pose_y": -0.3832741975784302, "right_arm_pose_z": 1.0850361585617065, "right_arm_pose_qx": -0.6773017048835754, "right_arm_pose_qy": 0.42976778745651245, "right_arm_pose_qz": 0.5923688411712646, "right_arm_pose_qw": 0.07524096965789795, "left_arm_pose_x": 0.2700475752353668, "left_arm_pose_y": 0.2670464515686035, "left_arm_pose_z": 1.0461522340774536, "left_arm_pose_qx": 0.0526018925011158, "left_arm_pose_qy": 0.7058688998222351, "left_arm_pose_qz": 0.7045772671699524, "left_arm_pose_qw": 0.05052778497338295, "tray_height": 1.047359824180603, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8518375269123681, "pregrasp_distance": 0.041497261648663145, "pregrasp_position_error": 0.041497261648663145, "pregrasp_orientation_error_deg": 9.476147136310866, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047359824180603, "p_ext_final_height": 1.3511580228805542, "p_ext_total_length": 1.92089386205557, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.21097387941188667, "three_view_visibility": 0.9692994199018296, "three_view_whole_tray_visibility": 0.3867797888386124, "full_view_visibility": 0.9788019804084062, "full_view_whole_tray_visibility": 0.47640428123912293, "front_grasp_visibility": 0.044444444444444446, "front_tray_visibility": 0.08823529411764706, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 4.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 18.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.7777777777777778, "wrist_right_tray_visibility": 0.2833333333333333, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 70.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 34.0, "wrist_left_grasp_visibility": 0.8554216867469879, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 83.0, "wrist_left_grasp_visible_count": 71.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.30952380952380953, "over_shoulder_right_tray_visibility": 0.14615384615384616, "over_shoulder_right_grasp_projected_count": 84.0, "over_shoulder_right_grasp_visible_count": 26.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 19.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0239.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0239.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..21c90ada33ce660d4334a0a8d03ec68c85eced14
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0239.debug.json
@@ -0,0 +1 @@
+{"frame_index": 239, "state": {"door_angle": 0.5717748403549194, "tray_height": 1.0474275350570679, "tray_grasped_left": true, "left_arm_pose": [0.27016255259513855, 0.2672731876373291, 1.0463612079620361, 0.05230581387877464, 0.7055960893630981, 0.70484858751297, 0.05086054280400276], "right_arm_pose": [0.49795952439308167, -0.38345250487327576, 1.0853357315063477, -0.6771893501281738, 0.4299435317516327, 0.5924188494682312, 0.07485387474298477], "left_arm_joint_positions": [0.06579971313476562, 0.17809846997261047, -0.06839153170585632, -2.3935458660125732, 1.7647024393081665, 1.6997089385986328, -0.15586721897125244], "right_arm_joint_positions": [0.8321175575256348, -0.6149017810821533, 0.25081729888916016, -2.947288990020752, -1.1348258256912231, 1.728607416152954, -2.802116632461548], "pregrasp_goal_pose": [0.2782543744289616, 0.2269069638908391, 1.0411219377117042, 0.07269407969469772, 0.7585523320555407, 0.644245218734288, 0.06528421285771377], "pregrasp_position_error": 0.04150131989344487, "pregrasp_orientation_error_deg": 9.659097260229622}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.022222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 2, "tray_visibility": 0.08823529411764706, "tray_projected_count": 204, "tray_visible_count": 18}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 75, "tray_visibility": 0.31666666666666665, "tray_projected_count": 120, "tray_visible_count": 38}, "wrist_left": {"grasp_visibility": 0.8554216867469879, "grasp_projected_count": 83, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.30120481927710846, "grasp_projected_count": 83, "grasp_visible_count": 25, "tray_visibility": 0.15384615384615385, "tray_projected_count": 130, "tray_visible_count": 20}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0474275350570679, "final_height": 1.3510552644729614, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.9210383897484054, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.21095362039390164, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.8428503530552393, "reliability": 1.0, "planner_score": 0.3250421311520117, "height_before": 1.0474275350570679, "height_after": 1.1351230144500732}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.078188036693166, "reliability": 1.0, "planner_score": 0.23750085656505934, "height_before": 1.1351230144500732, "height_after": 1.3510552644729614}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0239.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0239.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3312f761ebad37359d2d8904236b1f875b1b2ff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0239.json
@@ -0,0 +1 @@
+{"frame_index": 239, "time_norm": 0.7611464968152867, "door_angle": 0.5717748403549194, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.49795952439308167, "right_arm_pose_y": -0.38345250487327576, "right_arm_pose_z": 1.0853357315063477, "right_arm_pose_qx": -0.6771893501281738, "right_arm_pose_qy": 0.4299435317516327, "right_arm_pose_qz": 0.5924188494682312, "right_arm_pose_qw": 0.07485387474298477, "left_arm_pose_x": 0.27016255259513855, "left_arm_pose_y": 0.2672731876373291, "left_arm_pose_z": 1.0463612079620361, "left_arm_pose_qx": 0.05230581387877464, "left_arm_pose_qy": 0.7055960893630981, "left_arm_pose_qz": 0.70484858751297, "left_arm_pose_qw": 0.05086054280400276, "tray_height": 1.0474275350570679, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8518230357723384, "pregrasp_distance": 0.04150131989344487, "pregrasp_position_error": 0.04150131989344487, "pregrasp_orientation_error_deg": 9.659097260229622, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474275350570679, "p_ext_final_height": 1.3510552644729614, "p_ext_total_length": 1.9210383897484054, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.21095362039390164, "three_view_visibility": 0.9764390896921017, "three_view_whole_tray_visibility": 0.41530165912518857, "full_view_visibility": 0.9835357494233964, "full_view_whole_tray_visibility": 0.5052552500290057, "front_grasp_visibility": 0.022222222222222223, "front_tray_visibility": 0.08823529411764706, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 2.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 18.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.8333333333333334, "wrist_right_tray_visibility": 0.31666666666666665, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 75.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 38.0, "wrist_left_grasp_visibility": 0.8554216867469879, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 83.0, "wrist_left_grasp_visible_count": 71.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.30120481927710846, "over_shoulder_right_tray_visibility": 0.15384615384615385, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 25.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 20.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0240.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0240.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eec9384f968104a5b190fbe59ffefa5cd48ded3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0240.debug.json
@@ -0,0 +1 @@
+{"frame_index": 240, "state": {"door_angle": 0.5707346200942993, "tray_height": 1.047392725944519, "tray_grasped_left": true, "left_arm_pose": [0.27023935317993164, 0.26732131838798523, 1.0462313890457153, 0.05238967761397362, 0.7055004239082336, 0.704938530921936, 0.050854895263910294], "right_arm_pose": [0.4979760944843292, -0.3834311366081238, 1.0852851867675781, -0.6771970987319946, 0.4299219250679016, 0.5924203991889954, 0.07489470392465591], "left_arm_joint_positions": [0.0658419132232666, 0.17860344052314758, -0.0683111846446991, -2.393587112426758, 1.7650569677352905, 1.6996219158172607, -0.1560734510421753], "right_arm_joint_positions": [0.8321211338043213, -0.6148185729980469, 0.2508211135864258, -2.9474844932556152, -1.1348081827163696, 1.7286052703857422, -2.802116870880127], "pregrasp_goal_pose": [0.278307803814742, 0.22697179315642707, 1.0407797073620466, 0.0724142088170667, 0.7579795060318879, 0.6449063733288197, 0.06571925468934106], "pregrasp_position_error": 0.041507889795056666, "pregrasp_orientation_error_deg": 9.576391560356289}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.08823529411764706, "tray_projected_count": 204, "tray_visible_count": 18}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.30833333333333335, "tray_projected_count": 120, "tray_visible_count": 37}, "wrist_left": {"grasp_visibility": 0.8554216867469879, "grasp_projected_count": 83, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.30120481927710846, "grasp_projected_count": 83, "grasp_visible_count": 25, "tray_visibility": 0.14615384615384616, "tray_projected_count": 130, "tray_visible_count": 19}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.047392725944519, "final_height": 1.3510339260101318, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.921113886982829, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2109329411003257, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.843118219106601, "reliability": 1.0, "planner_score": 0.32492606154438664, "height_before": 1.047392725944519, "height_after": 1.1352767944335938}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.077995667876228, "reliability": 1.0, "planner_score": 0.23756178138981524, "height_before": 1.1352767944335938, "height_after": 1.3510339260101318}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0240.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0240.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe79a77b0f23d1029c396b8e22eec6f58682a57
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0240.json
@@ -0,0 +1 @@
+{"frame_index": 240, "time_norm": 0.7643312101910829, "door_angle": 0.5707346200942993, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979760944843292, "right_arm_pose_y": -0.3834311366081238, "right_arm_pose_z": 1.0852851867675781, "right_arm_pose_qx": -0.6771970987319946, "right_arm_pose_qy": 0.4299219250679016, "right_arm_pose_qz": 0.5924203991889954, "right_arm_pose_qw": 0.07489470392465591, "left_arm_pose_x": 0.27023935317993164, "left_arm_pose_y": 0.26732131838798523, "left_arm_pose_z": 1.0462313890457153, "left_arm_pose_qx": 0.05238967761397362, "left_arm_pose_qy": 0.7055004239082336, "left_arm_pose_qz": 0.704938530921936, "left_arm_pose_qw": 0.050854895263910294, "tray_height": 1.047392725944519, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8517995806404027, "pregrasp_distance": 0.041507889795056666, "pregrasp_position_error": 0.041507889795056666, "pregrasp_orientation_error_deg": 9.576391560356289, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047392725944519, "p_ext_final_height": 1.3510339260101318, "p_ext_total_length": 1.921113886982829, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2109329411003257, "three_view_visibility": 0.9708344489067381, "three_view_whole_tray_visibility": 0.40817119155354453, "full_view_visibility": 0.9796192534529012, "full_view_whole_tray_visibility": 0.4946692481726419, "front_grasp_visibility": 0.044444444444444446, "front_tray_visibility": 0.08823529411764706, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 4.0, "front_tray_projected_count": 204.0, "front_tray_visible_count": 18.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.7888888888888889, "wrist_right_tray_visibility": 0.30833333333333335, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 71.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 37.0, "wrist_left_grasp_visibility": 0.8554216867469879, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 83.0, "wrist_left_grasp_visible_count": 71.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.30120481927710846, "over_shoulder_right_tray_visibility": 0.14615384615384616, "over_shoulder_right_grasp_projected_count": 83.0, "over_shoulder_right_grasp_visible_count": 25.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 19.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0241.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0241.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd53e7255a34bc94eee3410c96688a0333d4db4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0241.debug.json
@@ -0,0 +1 @@
+{"frame_index": 241, "state": {"door_angle": 0.5700112581253052, "tray_height": 1.0474298000335693, "tray_grasped_left": true, "left_arm_pose": [0.27012312412261963, 0.2664438784122467, 1.0463322401046753, 0.05232660099864006, 0.7054675221443176, 0.7049841284751892, 0.05074460431933403], "right_arm_pose": [0.4979638457298279, -0.3834685683250427, 1.085385799407959, -0.6771199107170105, 0.430002897977829, 0.5924612879753113, 0.07480504363775253], "left_arm_joint_positions": [0.06457018852233887, 0.17807844281196594, -0.06944939494132996, -2.3939602375030518, 1.76311457157135, 1.6979234218597412, -0.15566504001617432], "right_arm_joint_positions": [0.8321092128753662, -0.6148908138275146, 0.25089049339294434, -2.9472403526306152, -1.1347657442092896, 1.7284862995147705, -2.801988363265991], "pregrasp_goal_pose": [0.27822870800215976, 0.226104652319377, 1.040809434867005, 0.0721646587759866, 0.7580680550669882, 0.6448283384299205, 0.06573811579599204], "pregrasp_position_error": 0.04151451588894132, "pregrasp_orientation_error_deg": 9.59288114839189}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.044444444444444446, "grasp_projected_count": 90, "grasp_visible_count": 4, "tray_visibility": 0.11707317073170732, "tray_projected_count": 205, "tray_visible_count": 24}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.35, "tray_projected_count": 120, "tray_visible_count": 42}, "wrist_left": {"grasp_visibility": 0.8554216867469879, "grasp_projected_count": 83, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.3333333333333333, "grasp_projected_count": 84, "grasp_visible_count": 28, "tray_visibility": 0.16923076923076924, "tray_projected_count": 130, "tray_visible_count": 22}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0474298000335693, "final_height": 1.351049542427063, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.922454558951527, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2107248203512978, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.8442402937159671, "reliability": 1.0, "planner_score": 0.3244403032948849, "height_before": 1.0474298000335693, "height_after": 1.1352430582046509}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0782142652355597, "reliability": 1.0, "planner_score": 0.23749255097524255, "height_before": 1.1352430582046509, "height_after": 1.351049542427063}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0241.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0241.json
new file mode 100644
index 0000000000000000000000000000000000000000..a515e46ee5c230b1212b5aa66a617d0235a2b7e7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0241.json
@@ -0,0 +1 @@
+{"frame_index": 241, "time_norm": 0.767515923566879, "door_angle": 0.5700112581253052, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979638457298279, "right_arm_pose_y": -0.3834685683250427, "right_arm_pose_z": 1.085385799407959, "right_arm_pose_qx": -0.6771199107170105, "right_arm_pose_qy": 0.430002897977829, "right_arm_pose_qz": 0.5924612879753113, "right_arm_pose_qw": 0.07480504363775253, "left_arm_pose_x": 0.27012312412261963, "left_arm_pose_y": 0.2664438784122467, "left_arm_pose_z": 1.0463322401046753, "left_arm_pose_qx": 0.05232660099864006, "left_arm_pose_qy": 0.7054675221443176, "left_arm_pose_qz": 0.7049841284751892, "left_arm_pose_qw": 0.05074460431933403, "tray_height": 1.0474298000335693, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8517759283873099, "pregrasp_distance": 0.04151451588894132, "pregrasp_position_error": 0.04151451588894132, "pregrasp_orientation_error_deg": 9.59288114839189, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474298000335693, "p_ext_final_height": 1.351049542427063, "p_ext_total_length": 1.922454558951527, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2107248203512978, "three_view_visibility": 0.9708344489067381, "three_view_whole_tray_visibility": 0.46141463414634143, "full_view_visibility": 0.9805562992711587, "full_view_whole_tray_visibility": 0.5525598499061914, "front_grasp_visibility": 0.044444444444444446, "front_tray_visibility": 0.11707317073170732, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 4.0, "front_tray_projected_count": 205.0, "front_tray_visible_count": 24.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.7888888888888889, "wrist_right_tray_visibility": 0.35, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 71.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 42.0, "wrist_left_grasp_visibility": 0.8554216867469879, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 83.0, "wrist_left_grasp_visible_count": 71.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.3333333333333333, "over_shoulder_right_tray_visibility": 0.16923076923076924, "over_shoulder_right_grasp_projected_count": 84.0, "over_shoulder_right_grasp_visible_count": 28.0, "over_shoulder_right_tray_projected_count": 130.0, "over_shoulder_right_tray_visible_count": 22.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0252.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0252.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb4a17dd444afd116df9fe9d2daf35da48bd14b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0252.debug.json
@@ -0,0 +1 @@
+{"frame_index": 252, "state": {"door_angle": 0.4701486825942993, "tray_height": 1.0693727731704712, "tray_grasped_left": true, "left_arm_pose": [0.26819247007369995, 0.11512502282857895, 1.068649172782898, 0.05249999836087227, 0.7053698897361755, 0.7050656080245972, 0.05078931897878647], "right_arm_pose": [0.49794647097587585, -0.38351452350616455, 1.0854519605636597, -0.6770792007446289, 0.430063933134079, 0.5924720168113708, 0.0747385323047638], "left_arm_joint_positions": [-0.12059259414672852, 0.16114476323127747, -0.23930785059928894, -2.359989881515503, 1.4995924234390259, 1.4631829261779785, -0.09608519077301025], "right_arm_joint_positions": [0.8321020603179932, -0.6149179935455322, 0.25090789794921875, -2.947115421295166, -1.1347259283065796, 1.728440523147583, -2.801982879638672], "pregrasp_goal_pose": [0.2762567765832972, 0.07477498239533581, 1.0634412187028746, 0.07348440082869206, 0.7589624677681341, 0.6437535712159458, 0.06447755346528201], "pregrasp_position_error": 0.04147627741426081, "pregrasp_orientation_error_deg": 9.766158372315921}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.48986486486486486, "tray_projected_count": 296, "tray_visible_count": 145}, "overhead": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.3108108108108108, "tray_projected_count": 296, "tray_visible_count": 92}, "wrist_right": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.44, "tray_projected_count": 150, "tray_visible_count": 66}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.24324324324324326, "tray_projected_count": 296, "tray_visible_count": 72}, "over_shoulder_right": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.467680608365019, "tray_projected_count": 263, "tray_visible_count": 123}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0693727731704712, "final_height": 1.351120114326477, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.2169881952010506, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.17121058536888517, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.1387449790044182, "reliability": 1.0, "planner_score": 0.2190781773483123, "height_before": 1.0693727731704712, "height_after": 1.1345977783203125}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0782432161966322, "reliability": 1.0, "planner_score": 0.23748338363538152, "height_before": 1.1345977783203125, "height_after": 1.351120114326477}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0252.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0252.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f15af4654d903bef10d0092308f70a0b0a5cdb9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0252.json
@@ -0,0 +1 @@
+{"frame_index": 252, "time_norm": 0.802547770700637, "door_angle": 0.4701486825942993, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.49794647097587585, "right_arm_pose_y": -0.38351452350616455, "right_arm_pose_z": 1.0854519605636597, "right_arm_pose_qx": -0.6770792007446289, "right_arm_pose_qy": 0.430063933134079, "right_arm_pose_qz": 0.5924720168113708, "right_arm_pose_qw": 0.0747385323047638, "left_arm_pose_x": 0.26819247007369995, "left_arm_pose_y": 0.11512502282857895, "left_arm_pose_z": 1.068649172782898, "left_arm_pose_qx": 0.05249999836087227, "left_arm_pose_qy": 0.7053698897361755, "left_arm_pose_qz": 0.7050656080245972, "left_arm_pose_qw": 0.05078931897878647, "tray_height": 1.0693727731704712, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8519124559965918, "pregrasp_distance": 0.04147627741426081, "pregrasp_position_error": 0.04147627741426081, "pregrasp_orientation_error_deg": 9.766158372315921, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0693727731704712, "p_ext_final_height": 1.351120114326477, "p_ext_total_length": 2.2169881952010506, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.17121058536888517, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7319043659043658, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.925568496379085, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.48986486486486486, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 145.0, "overhead_grasp_visibility": 0.8111111111111111, "overhead_tray_visibility": 0.3108108108108108, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 73.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 92.0, "wrist_right_grasp_visibility": 0.8888888888888888, "wrist_right_tray_visibility": 0.44, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 80.0, "wrist_right_tray_projected_count": 150.0, "wrist_right_tray_visible_count": 66.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.8555555555555555, "over_shoulder_left_tray_visibility": 0.24324324324324326, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 77.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 72.0, "over_shoulder_right_grasp_visibility": 0.6222222222222222, "over_shoulder_right_tray_visibility": 0.467680608365019, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 56.0, "over_shoulder_right_tray_projected_count": 263.0, "over_shoulder_right_tray_visible_count": 123.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0253.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0253.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bc4f2e9ada374a2b157a145e144b29b1af989dd
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0253.debug.json
@@ -0,0 +1 @@
+{"frame_index": 253, "state": {"door_angle": 0.45225846767425537, "tray_height": 1.0718811750411987, "tray_grasped_left": true, "left_arm_pose": [0.2679479122161865, 0.09826976805925369, 1.0711735486984253, 0.05249597504734993, 0.705316960811615, 0.7051170468330383, 0.05081430822610855], "right_arm_pose": [0.4979507625102997, -0.3835030794143677, 1.0854506492614746, -0.6770718097686768, 0.4300689101219177, 0.5924761891365051, 0.07474297285079956], "left_arm_joint_positions": [-0.14105820655822754, 0.16791775822639465, -0.257106751203537, -2.3446242809295654, 1.4744583368301392, 1.4348437786102295, -0.09029781818389893], "right_arm_joint_positions": [0.8320977687835693, -0.6149086952209473, 0.25091981887817383, -2.947169780731201, -1.1347428560256958, 1.7284226417541504, -2.8019649982452393], "pregrasp_goal_pose": [0.2760074647975074, 0.05793088725557333, 1.0658956531464028, 0.07341820229085462, 0.7588848843136156, 0.6438406268999289, 0.06459680399056862], "pregrasp_position_error": 0.04147333931289675, "pregrasp_orientation_error_deg": 9.761429200570344}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5168918918918919, "tray_projected_count": 296, "tray_visible_count": 153}, "overhead": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.3277027027027027, "tray_projected_count": 296, "tray_visible_count": 97}, "wrist_right": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.5526315789473685, "tray_projected_count": 152, "tray_visible_count": 84}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.34121621621621623, "tray_projected_count": 296, "tray_visible_count": 101}, "over_shoulder_right": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.5441176470588235, "tray_projected_count": 272, "tray_visible_count": 148}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0718811750411987, "final_height": 1.3510518074035645, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.2615975758585076, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.166464899805237, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.18324493136864, "reliability": 1.0, "planner_score": 0.2064576631860468, "height_before": 1.0718811750411987, "height_after": 1.1348246335983276}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.078352644489868, "reliability": 1.0, "planner_score": 0.23744873629458518, "height_before": 1.1348246335983276, "height_after": 1.3510518074035645}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0253.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0253.json
new file mode 100644
index 0000000000000000000000000000000000000000..c750d7e2e5401572e9df29b1575d06f338e4f0a2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0253.json
@@ -0,0 +1 @@
+{"frame_index": 253, "time_norm": 0.8057324840764332, "door_angle": 0.45225846767425537, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979507625102997, "right_arm_pose_y": -0.3835030794143677, "right_arm_pose_z": 1.0854506492614746, "right_arm_pose_qx": -0.6770718097686768, "right_arm_pose_qy": 0.4300689101219177, "right_arm_pose_qz": 0.5924761891365051, "right_arm_pose_qw": 0.07474297285079956, "left_arm_pose_x": 0.2679479122161865, "left_arm_pose_y": 0.09826976805925369, "left_arm_pose_z": 1.0711735486984253, "left_arm_pose_qx": 0.05249597504734993, "left_arm_pose_qy": 0.705316960811615, "left_arm_pose_qz": 0.7051170468330383, "left_arm_pose_qw": 0.05081430822610855, "tray_height": 1.0718811750411987, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8519229372552719, "pregrasp_distance": 0.04147333931289675, "pregrasp_position_error": 0.04147333931289675, "pregrasp_orientation_error_deg": 9.761429200570344, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0718811750411987, "p_ext_final_height": 1.3510518074035645, "p_ext_total_length": 2.2615975758585076, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.166464899805237, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7971728307254623, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9590472399926532, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.5168918918918919, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 153.0, "overhead_grasp_visibility": 0.8111111111111111, "overhead_tray_visibility": 0.3277027027027027, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 73.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 97.0, "wrist_right_grasp_visibility": 0.9555555555555556, "wrist_right_tray_visibility": 0.5526315789473685, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 86.0, "wrist_right_tray_projected_count": 152.0, "wrist_right_tray_visible_count": 84.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9, "over_shoulder_left_tray_visibility": 0.34121621621621623, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 81.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 101.0, "over_shoulder_right_grasp_visibility": 0.6555555555555556, "over_shoulder_right_tray_visibility": 0.5441176470588235, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 59.0, "over_shoulder_right_tray_projected_count": 272.0, "over_shoulder_right_tray_visible_count": 148.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0254.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0254.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ca6af76885d75d9d7af5e1efabc7df2c15f5ca
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0254.debug.json
@@ -0,0 +1 @@
+{"frame_index": 254, "state": {"door_angle": 0.43617188930511475, "tray_height": 1.0742841958999634, "tray_grasped_left": true, "left_arm_pose": [0.26771116256713867, 0.08160434663295746, 1.0737859010696411, 0.05238739773631096, 0.7053028345108032, 0.7051361799240112, 0.050857946276664734], "right_arm_pose": [0.4979521632194519, -0.383515864610672, 1.0854531526565552, -0.6770821809768677, 0.4300619959831238, 0.5924689173698425, 0.07474598288536072], "left_arm_joint_positions": [-0.16130781173706055, 0.1762700378894806, -0.27419015765190125, -2.3268425464630127, 1.4506911039352417, 1.4063453674316406, -0.08472168445587158], "right_arm_joint_positions": [0.8320932388305664, -0.6148786544799805, 0.2509276866912842, -2.9471402168273926, -1.134731411933899, 1.7284119129180908, -2.8019418716430664], "pregrasp_goal_pose": [0.275753730280728, 0.04124499427930864, 1.0683986079063996, 0.07354365015420103, 0.7590323015301691, 0.6436732859994068, 0.06438942185279156], "pregrasp_position_error": 0.041504013606642395, "pregrasp_orientation_error_deg": 9.790485677483128}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5405405405405406, "tray_projected_count": 296, "tray_visible_count": 160}, "overhead": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.40540540540540543, "tray_projected_count": 296, "tray_visible_count": 120}, "wrist_right": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.44155844155844154, "tray_projected_count": 154, "tray_visible_count": 68}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.41216216216216217, "tray_projected_count": 296, "tray_visible_count": 122}, "over_shoulder_right": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.6701388888888888, "tray_projected_count": 288, "tray_visible_count": 193}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0742841958999634, "final_height": 1.3509758710861206, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.3073711389068112, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.16188034879835672, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.228986010638479, "reliability": 1.0, "planner_score": 0.19424247792118246, "height_before": 1.0742841958999634, "height_after": 1.1347134113311768}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0783851282683325, "reliability": 1.0, "planner_score": 0.2374384522077688, "height_before": 1.1347134113311768, "height_after": 1.3509758710861206}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0254.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0254.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1da3f439585271baa72d62a28fb53a9acd4c49b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0254.json
@@ -0,0 +1 @@
+{"frame_index": 254, "time_norm": 0.8089171974522293, "door_angle": 0.43617188930511475, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979521632194519, "right_arm_pose_y": -0.383515864610672, "right_arm_pose_z": 1.0854531526565552, "right_arm_pose_qx": -0.6770821809768677, "right_arm_pose_qy": 0.4300619959831238, "right_arm_pose_qz": 0.5924689173698425, "right_arm_pose_qw": 0.07474598288536072, "left_arm_pose_x": 0.26771116256713867, "left_arm_pose_y": 0.08160434663295746, "left_arm_pose_z": 1.0737859010696411, "left_arm_pose_qx": 0.05238739773631096, "left_arm_pose_qy": 0.7053028345108032, "left_arm_pose_qz": 0.7051361799240112, "left_arm_pose_qw": 0.050857946276664734, "tray_height": 1.0742841958999634, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8518134278471641, "pregrasp_distance": 0.041504013606642395, "pregrasp_position_error": 0.041504013606642395, "pregrasp_orientation_error_deg": 9.790485677483128, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0742841958999634, "p_ext_final_height": 1.3509758710861206, "p_ext_total_length": 2.3073711389068112, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.16188034879835672, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7592083592083592, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9722379828867228, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.5405405405405406, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 160.0, "overhead_grasp_visibility": 0.8111111111111111, "overhead_tray_visibility": 0.40540540540540543, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 73.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 120.0, "wrist_right_grasp_visibility": 0.9, "wrist_right_tray_visibility": 0.44155844155844154, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 81.0, "wrist_right_tray_projected_count": 154.0, "wrist_right_tray_visible_count": 68.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.41216216216216217, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 122.0, "over_shoulder_right_grasp_visibility": 0.6222222222222222, "over_shoulder_right_tray_visibility": 0.6701388888888888, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 56.0, "over_shoulder_right_tray_projected_count": 288.0, "over_shoulder_right_tray_visible_count": 193.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0255.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0255.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b319c39beb6304a8ffbb982a9d6c017f1b6be44
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0255.debug.json
@@ -0,0 +1 @@
+{"frame_index": 255, "state": {"door_angle": 0.422002911567688, "tray_height": 1.0769593715667725, "tray_grasped_left": true, "left_arm_pose": [0.2674486041069031, 0.0650075227022171, 1.0762193202972412, 0.052483681589365005, 0.7052547335624695, 0.705176055431366, 0.05087311565876007], "right_arm_pose": [0.4979437291622162, -0.38351351022720337, 1.0854593515396118, -0.6770730018615723, 0.4300711154937744, 0.592474102973938, 0.07473624497652054], "left_arm_joint_positions": [-0.1812610626220703, 0.18621328473091125, -0.29054853320121765, -2.307307720184326, 1.4285987615585327, 1.3777542114257812, -0.07934415340423584], "right_arm_joint_positions": [0.8320894241333008, -0.6149160861968994, 0.2509126663208008, -2.947084903717041, -1.1347423791885376, 1.7284412384033203, -2.8019580841064453], "pregrasp_goal_pose": [0.2754902404136496, 0.024662750985246604, 1.07099056398904, 0.07351070681314825, 0.7588574621322077, 0.6438720931660311, 0.06450004489990813], "pregrasp_position_error": 0.041469367151127354, "pregrasp_orientation_error_deg": 9.766302185919102}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6081081081081081, "tray_projected_count": 296, "tray_visible_count": 180}, "overhead": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "wrist_right": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.5555555555555556, "tray_projected_count": 162, "tray_visible_count": 90}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.40202702702702703, "tray_projected_count": 296, "tray_visible_count": 119}, "over_shoulder_right": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.6527777777777778, "tray_projected_count": 288, "tray_visible_count": 188}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0769593715667725, "final_height": 1.3510023355484009, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.3538949082226233, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.15749811075886166, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.2754703412765807, "reliability": 1.0, "planner_score": 0.18256899516571248, "height_before": 1.0769593715667725, "height_after": 1.134718418121338}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0784245669460426, "reliability": 1.0, "planner_score": 0.23742596685791864, "height_before": 1.134718418121338, "height_after": 1.3510023355484009}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0255.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0255.json
new file mode 100644
index 0000000000000000000000000000000000000000..408a6913d56b528a5d876f5d0e875f6936e9d9ef
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0255.json
@@ -0,0 +1 @@
+{"frame_index": 255, "time_norm": 0.8121019108280255, "door_angle": 0.422002911567688, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979437291622162, "right_arm_pose_y": -0.38351351022720337, "right_arm_pose_z": 1.0854593515396118, "right_arm_pose_qx": -0.6770730018615723, "right_arm_pose_qy": 0.4300711154937744, "right_arm_pose_qz": 0.592474102973938, "right_arm_pose_qw": 0.07473624497652054, "left_arm_pose_x": 0.2674486041069031, "left_arm_pose_y": 0.0650075227022171, "left_arm_pose_z": 1.0762193202972412, "left_arm_pose_qx": 0.052483681589365005, "left_arm_pose_qy": 0.7052547335624695, "left_arm_pose_qz": 0.705176055431366, "left_arm_pose_qw": 0.05087311565876007, "tray_height": 1.0769593715667725, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8519371102726648, "pregrasp_distance": 0.041469367151127354, "pregrasp_position_error": 0.041469367151127354, "pregrasp_orientation_error_deg": 9.766302185919102, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0769593715667725, "p_ext_final_height": 1.3510023355484009, "p_ext_total_length": 2.3538949082226233, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.15749811075886166, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.8365442365442366, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9822282869186403, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.6081081081081081, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 180.0, "overhead_grasp_visibility": 0.8, "overhead_tray_visibility": 0.47635135135135137, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 72.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 141.0, "wrist_right_grasp_visibility": 0.9111111111111111, "wrist_right_tray_visibility": 0.5555555555555556, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 82.0, "wrist_right_tray_projected_count": 162.0, "wrist_right_tray_visible_count": 90.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.8777777777777778, "over_shoulder_left_tray_visibility": 0.40202702702702703, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 79.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 119.0, "over_shoulder_right_grasp_visibility": 0.6555555555555556, "over_shoulder_right_tray_visibility": 0.6527777777777778, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 59.0, "over_shoulder_right_tray_projected_count": 288.0, "over_shoulder_right_tray_visible_count": 188.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0266.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0266.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d54fd1408cdaff87817b803d256b8cb916f2ea3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0266.debug.json
@@ -0,0 +1 @@
+{"frame_index": 266, "state": {"door_angle": 0.3918837308883667, "tray_height": 1.0921047925949097, "tray_grasped_left": true, "left_arm_pose": [0.2659020721912384, -0.007424592971801758, 1.091578722000122, 0.05286289379000664, 0.7051382660865784, 0.7053078413009644, 0.05026296153664589], "right_arm_pose": [0.4979572296142578, -0.3835245966911316, 1.0854545831680298, -0.6771706938743591, 0.4299541413784027, 0.5924144387245178, 0.07499586045742035], "left_arm_joint_positions": [-0.26855921745300293, 0.23884537816047668, -0.3553580939769745, -2.1982946395874023, 1.349485993385315, 1.2478053569793701, -0.046862244606018066], "right_arm_joint_positions": [0.8321044445037842, -0.614675760269165, 0.25087618827819824, -2.946890354156494, -1.1345871686935425, 1.728240966796875, -2.8024728298187256], "pregrasp_goal_pose": [0.27398220603968726, -0.047755591991706425, 1.0858667573610339, 0.0733679971971099, 0.7581438979944701, 0.6447366855733261, 0.06441718091439076], "pregrasp_position_error": 0.041527154790457224, "pregrasp_orientation_error_deg": 9.658013673387742}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6283783783783784, "tray_projected_count": 296, "tray_visible_count": 186}, "overhead": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}, "wrist_right": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.47191011235955055, "tray_projected_count": 178, "tray_visible_count": 84}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.6013513513513513, "tray_projected_count": 296, "tray_visible_count": 178}, "over_shoulder_right": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.6587837837837838, "tray_projected_count": 296, "tray_visible_count": 195}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0921047925949097, "final_height": 1.3509294986724854, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.571324610450032, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14025185638859833, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.4925757674896798, "reliability": 1.0, "planner_score": 0.13668161671738843, "height_before": 1.0921047925949097, "height_after": 1.1347428560256958}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0787488429603522, "reliability": 1.0, "planner_score": 0.23732333365220706, "height_before": 1.1347428560256958, "height_after": 1.3509294986724854}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0266.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0266.json
new file mode 100644
index 0000000000000000000000000000000000000000..be68dd4e1b39cb5950352cdab0f003be3d1c2dfe
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0266.json
@@ -0,0 +1 @@
+{"frame_index": 266, "time_norm": 0.8471337579617835, "door_angle": 0.3918837308883667, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979572296142578, "right_arm_pose_y": -0.3835245966911316, "right_arm_pose_z": 1.0854545831680298, "right_arm_pose_qx": -0.6771706938743591, "right_arm_pose_qy": 0.4299541413784027, "right_arm_pose_qz": 0.5924144387245178, "right_arm_pose_qw": 0.07499586045742035, "left_arm_pose_x": 0.2659020721912384, "left_arm_pose_y": -0.007424592971801758, "left_arm_pose_z": 1.091578722000122, "left_arm_pose_qx": 0.05286289379000664, "left_arm_pose_qy": 0.7051382660865784, "left_arm_pose_qz": 0.7053078413009644, "left_arm_pose_qw": 0.05026296153664589, "tray_height": 1.0921047925949097, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8517308022989108, "pregrasp_distance": 0.041527154790457224, "pregrasp_position_error": 0.041527154790457224, "pregrasp_orientation_error_deg": 9.658013673387742, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0921047925949097, "p_ext_final_height": 1.3509294986724854, "p_ext_total_length": 2.571324610450032, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.14025185638859833, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.8158272793104254, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9918749735263274, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.6283783783783784, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 186.0, "overhead_grasp_visibility": 0.8666666666666667, "overhead_tray_visibility": 0.6756756756756757, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 78.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 200.0, "wrist_right_grasp_visibility": 0.9555555555555556, "wrist_right_tray_visibility": 0.47191011235955055, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 86.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 84.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.8888888888888888, "over_shoulder_left_tray_visibility": 0.6013513513513513, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 80.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 178.0, "over_shoulder_right_grasp_visibility": 0.7888888888888889, "over_shoulder_right_tray_visibility": 0.6587837837837838, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 71.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 195.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0267.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0267.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1bc7a1e0c63a564e7ce0ea726e04f8dc965b9ae
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0267.debug.json
@@ -0,0 +1 @@
+{"frame_index": 267, "state": {"door_angle": 0.39192497730255127, "tray_height": 1.0995184183120728, "tray_grasped_left": true, "left_arm_pose": [0.26595863699913025, -0.007494017481803894, 1.0987721681594849, 0.052849989384412766, 0.7051580548286438, 0.7052879333496094, 0.05027991905808449], "right_arm_pose": [0.4979459047317505, -0.38350802659988403, 1.0854547023773193, -0.6771693229675293, 0.429946631193161, 0.5924188494682312, 0.07501674443483353], "left_arm_joint_positions": [-0.26787710189819336, 0.22530987858772278, -0.3561699092388153, -2.197216033935547, 1.3501313924789429, 1.247081995010376, -0.032235026359558105], "right_arm_joint_positions": [0.8321104049682617, -0.6147387027740479, 0.2508831024169922, -2.9468817710876465, -1.1345852613449097, 1.7282092571258545, -2.802541494369507], "pregrasp_goal_pose": [0.27401048841980646, -0.0477977571739579, 1.0932332836635545, 0.07346616112173075, 0.7579403150868499, 0.6449739128893953, 0.06432615042286696], "pregrasp_position_error": 0.041471713081723705, "pregrasp_orientation_error_deg": 9.621742102057027}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6351351351351351, "tray_projected_count": 296, "tray_visible_count": 188}, "overhead": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.668918918918919, "tray_projected_count": 296, "tray_visible_count": 198}, "wrist_right": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.5168539325842697, "tray_projected_count": 178, "tray_visible_count": 92}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.5709459459459459, "tray_projected_count": 296, "tray_visible_count": 169}, "over_shoulder_right": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0995184183120728, "final_height": 1.3511631488800049, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.5688861665878813, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.14042757416409096, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.4903129284685317, "reliability": 1.0, "planner_score": 0.1370946241112947, "height_before": 1.0995184183120728, "height_after": 1.1348565816879272}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0785732381193496, "reliability": 1.0, "planner_score": 0.2373789069929479, "height_before": 1.1348565816879272, "height_after": 1.3511631488800049}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0267.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0267.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e25fa61bef2bcedee8dc9036a2afa4207d23252
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0267.json
@@ -0,0 +1 @@
+{"frame_index": 267, "time_norm": 0.8503184713375797, "door_angle": 0.39192497730255127, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979459047317505, "right_arm_pose_y": -0.38350802659988403, "right_arm_pose_z": 1.0854547023773193, "right_arm_pose_qx": -0.6771693229675293, "right_arm_pose_qy": 0.429946631193161, "right_arm_pose_qz": 0.5924188494682312, "right_arm_pose_qw": 0.07501674443483353, "left_arm_pose_x": 0.26595863699913025, "left_arm_pose_y": -0.007494017481803894, "left_arm_pose_z": 1.0987721681594849, "left_arm_pose_qx": 0.052849989384412766, "left_arm_pose_qy": 0.7051580548286438, "left_arm_pose_qz": 0.7052879333496094, "left_arm_pose_qw": 0.05027991905808449, "tray_height": 1.0995184183120728, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8519287344461962, "pregrasp_distance": 0.041471713081723705, "pregrasp_position_error": 0.041471713081723705, "pregrasp_orientation_error_deg": 9.621742102057027, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0995184183120728, "p_ext_final_height": 1.3511631488800049, "p_ext_total_length": 2.5688861665878813, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.14042757416409096, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.8345651615314537, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9923782821368693, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.6351351351351351, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 188.0, "overhead_grasp_visibility": 0.8444444444444444, "overhead_tray_visibility": 0.668918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 76.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 198.0, "wrist_right_grasp_visibility": 0.9111111111111111, "wrist_right_tray_visibility": 0.5168539325842697, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 82.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 92.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9333333333333333, "over_shoulder_left_tray_visibility": 0.5709459459459459, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 84.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 169.0, "over_shoulder_right_grasp_visibility": 0.8, "over_shoulder_right_tray_visibility": 0.6756756756756757, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 72.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 200.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0268.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0268.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..da17635f889b3a670306ac6ead01495a804f885c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0268.debug.json
@@ -0,0 +1 @@
+{"frame_index": 268, "state": {"door_angle": 0.39191925525665283, "tray_height": 1.1103206872940063, "tray_grasped_left": true, "left_arm_pose": [0.2660118639469147, -0.007544845342636108, 1.109450340270996, 0.05279834195971489, 0.7051645517349243, 0.7052858471870422, 0.05027197301387787], "right_arm_pose": [0.4979420304298401, -0.38352662324905396, 1.0854721069335938, -0.6771753430366516, 0.4299529194831848, 0.5924072265625, 0.07501761615276337], "left_arm_joint_positions": [-0.26692724227905273, 0.20588424801826477, -0.3571922481060028, -2.1952366828918457, 1.3513132333755493, 1.2459309101104736, -0.010489583015441895], "right_arm_joint_positions": [0.8320982456207275, -0.614699125289917, 0.25086355209350586, -2.946812629699707, -1.134569525718689, 1.728217601776123, -2.802586793899536], "pregrasp_goal_pose": [0.27408912658641993, -0.04785010220176478, 1.1041742127571046, 0.07349003098297657, 0.7583038097039133, 0.6445461950190298, 0.06430202190556243], "pregrasp_position_error": 0.041443858697890676, "pregrasp_orientation_error_deg": 9.68439293854826}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6385135135135135, "tray_projected_count": 296, "tray_visible_count": 189}, "overhead": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.6790540540540541, "tray_projected_count": 296, "tray_visible_count": 201}, "wrist_right": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.4438202247191011, "tray_projected_count": 178, "tray_visible_count": 79}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.581081081081081, "tray_projected_count": 296, "tray_visible_count": 172}, "over_shoulder_right": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.6722972972972973, "tray_projected_count": 296, "tray_visible_count": 199}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1103206872940063, "final_height": 1.1103206872940063, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 0.8254914363225297}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0268.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0268.json
new file mode 100644
index 0000000000000000000000000000000000000000..2daea7228b18588e9cf50543226129cd6c116158
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0268.json
@@ -0,0 +1 @@
+{"frame_index": 268, "time_norm": 0.8535031847133758, "door_angle": 0.39191925525665283, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979420304298401, "right_arm_pose_y": -0.38352662324905396, "right_arm_pose_z": 1.0854721069335938, "right_arm_pose_qx": -0.6771753430366516, "right_arm_pose_qy": 0.4299529194831848, "right_arm_pose_qz": 0.5924072265625, "right_arm_pose_qw": 0.07501761615276337, "left_arm_pose_x": 0.2660118639469147, "left_arm_pose_y": -0.007544845342636108, "left_arm_pose_z": 1.109450340270996, "left_arm_pose_qx": 0.05279834195971489, "left_arm_pose_qy": 0.7051645517349243, "left_arm_pose_qz": 0.7052858471870422, "left_arm_pose_qw": 0.05027197301387787, "tray_height": 1.1103206872940063, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8520281990200242, "pregrasp_distance": 0.041443858697890676, "pregrasp_position_error": 0.041443858697890676, "pregrasp_orientation_error_deg": 9.68439293854826, "p_pre": 1.0, "p_ext": 0.8254914363225297, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1103206872940063, "p_ext_final_height": 1.1103206872940063, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.8113209255063187, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9916868497708617, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.6385135135135135, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 189.0, "overhead_grasp_visibility": 0.7777777777777778, "overhead_tray_visibility": 0.6790540540540541, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 70.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 201.0, "wrist_right_grasp_visibility": 0.8222222222222222, "wrist_right_tray_visibility": 0.4438202247191011, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 74.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 79.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.8, "over_shoulder_left_tray_visibility": 0.581081081081081, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 72.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 172.0, "over_shoulder_right_grasp_visibility": 0.8222222222222222, "over_shoulder_right_tray_visibility": 0.6722972972972973, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 74.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 199.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0280.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0280.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b24c7ca04cd930ce17028dcdeea9828a0b368914
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0280.debug.json
@@ -0,0 +1 @@
+{"frame_index": 280, "state": {"door_angle": 0.3918837308883667, "tray_height": 1.3272576332092285, "tray_grasped_left": true, "left_arm_pose": [0.26641470193862915, -0.008604496717453003, 1.3262604475021362, 0.05196638032793999, 0.7055076956748962, 0.704976499080658, 0.05066132918000221], "right_arm_pose": [0.49794793128967285, -0.3835087716579437, 1.0854612588882446, -0.6771756410598755, 0.4299365282058716, 0.5924170017242432, 0.07503236830234528], "left_arm_joint_positions": [-0.25666260719299316, -0.044172972440719604, -0.35633036494255066, -2.0004000663757324, 1.4309643507003784, 1.216325044631958, 0.44499146938323975], "right_arm_joint_positions": [0.8321046829223633, -0.6146881580352783, 0.25087571144104004, -2.9468941688537598, -1.1345738172531128, 1.7281982898712158, -2.8025941848754883], "pregrasp_goal_pose": [0.2745312837922087, -0.04892695785218382, 1.3209740126428036, 0.07247844659474151, 0.7585741210800827, 0.6442786834397514, 0.06493963098088902], "pregrasp_position_error": 0.04146958121888503, "pregrasp_orientation_error_deg": 9.675436535448867}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.581081081081081, "tray_projected_count": 296, "tray_visible_count": 172}, "overhead": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 75, "tray_visibility": 0.6317567567567568, "tray_projected_count": 296, "tray_visible_count": 187}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.7156862745098039, "tray_projected_count": 204, "tray_visible_count": 146}, "over_shoulder_right": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.7569060773480663, "tray_projected_count": 181, "tray_visible_count": 137}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3272576332092285, "final_height": 1.3272576332092285, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0280.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0280.json
new file mode 100644
index 0000000000000000000000000000000000000000..097e82e02cc4b73dc70b551ff603f98c03641423
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0280.json
@@ -0,0 +1 @@
+{"frame_index": 280, "time_norm": 0.89171974522293, "door_angle": 0.3918837308883667, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.49794793128967285, "right_arm_pose_y": -0.3835087716579437, "right_arm_pose_z": 1.0854612588882446, "right_arm_pose_qx": -0.6771756410598755, "right_arm_pose_qy": 0.4299365282058716, "right_arm_pose_qz": 0.5924170017242432, "right_arm_pose_qw": 0.07503236830234528, "left_arm_pose_x": 0.26641470193862915, "left_arm_pose_y": -0.008604496717453003, "left_arm_pose_z": 1.3262604475021362, "left_arm_pose_qx": 0.05196638032793999, "left_arm_pose_qy": 0.7055076956748962, "left_arm_pose_qz": 0.704976499080658, "left_arm_pose_qw": 0.05066132918000221, "tray_height": 1.3272576332092285, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8519363572822609, "pregrasp_distance": 0.04146958121888503, "pregrasp_position_error": 0.04146958121888503, "pregrasp_orientation_error_deg": 9.675436535448867, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3272576332092285, "p_ext_final_height": 1.3272576332092285, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9873015873015873, "three_view_whole_tray_visibility": 0.6068607068607068, "full_view_visibility": 0.9999660330524528, "full_view_whole_tray_visibility": 0.9899941689125169, "front_grasp_visibility": 0.9111111111111111, "front_tray_visibility": 0.581081081081081, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 82.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 172.0, "overhead_grasp_visibility": 0.8333333333333334, "overhead_tray_visibility": 0.6317567567567568, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 75.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 187.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9444444444444444, "over_shoulder_left_tray_visibility": 0.7156862745098039, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 85.0, "over_shoulder_left_tray_projected_count": 204.0, "over_shoulder_left_tray_visible_count": 146.0, "over_shoulder_right_grasp_visibility": 0.7111111111111111, "over_shoulder_right_tray_visibility": 0.7569060773480663, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 64.0, "over_shoulder_right_tray_projected_count": 181.0, "over_shoulder_right_tray_visible_count": 137.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0281.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0281.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..4873b566f642aae42047b01829536a7d41ad99d9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0281.debug.json
@@ -0,0 +1 @@
+{"frame_index": 281, "state": {"door_angle": 0.3920708894729614, "tray_height": 1.3393561840057373, "tray_grasped_left": true, "left_arm_pose": [0.2663968801498413, -0.008629702031612396, 1.3385080099105835, 0.05200154706835747, 0.7053491473197937, 0.7051287293434143, 0.05071510002017021], "right_arm_pose": [0.49793189764022827, -0.3835192322731018, 1.0854830741882324, -0.6771654486656189, 0.42995399236679077, 0.5924185514450073, 0.0750131756067276], "left_arm_joint_positions": [-0.2562375068664551, -0.049644678831100464, -0.3560490310192108, -1.9812915325164795, 1.4388474225997925, 1.2143256664276123, 0.4709993600845337], "right_arm_joint_positions": [0.8320965766906738, -0.6146881580352783, 0.25086259841918945, -2.946868896484375, -1.134583592414856, 1.7281889915466309, -2.8025896549224854], "pregrasp_goal_pose": [0.27448026119693897, -0.048981425121402036, 1.333033672075974, 0.07263379712041612, 0.75835051773677, 0.6445389154311265, 0.06479514070600167], "pregrasp_position_error": 0.04151591237339098, "pregrasp_orientation_error_deg": 9.661378361702786}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.543918918918919, "tray_projected_count": 296, "tray_visible_count": 161}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6621621621621622, "tray_projected_count": 296, "tray_visible_count": 196}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.671875, "tray_projected_count": 192, "tray_visible_count": 129}, "over_shoulder_right": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.6352941176470588, "tray_projected_count": 170, "tray_visible_count": 108}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3393561840057373, "final_height": 1.3393561840057373, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0281.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0281.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ca9f045922f4fa4bd722e05e1b669a2414788ec
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0281.json
@@ -0,0 +1 @@
+{"frame_index": 281, "time_norm": 0.8949044585987261, "door_angle": 0.3920708894729614, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.49793189764022827, "right_arm_pose_y": -0.3835192322731018, "right_arm_pose_z": 1.0854830741882324, "right_arm_pose_qx": -0.6771654486656189, "right_arm_pose_qy": 0.42995399236679077, "right_arm_pose_qz": 0.5924185514450073, "right_arm_pose_qw": 0.0750131756067276, "left_arm_pose_x": 0.2663968801498413, "left_arm_pose_y": -0.008629702031612396, "left_arm_pose_z": 1.3385080099105835, "left_arm_pose_qx": 0.05200154706835747, "left_arm_pose_qy": 0.7053491473197937, "left_arm_pose_qz": 0.7051287293434143, "left_arm_pose_qw": 0.05071510002017021, "tray_height": 1.3393561840057373, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8517709391766336, "pregrasp_distance": 0.04151591237339098, "pregrasp_position_error": 0.04151591237339098, "pregrasp_orientation_error_deg": 9.661378361702786, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3393561840057373, "p_ext_final_height": 1.3393561840057373, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9666666666666667, "three_view_whole_tray_visibility": 0.5719854469854471, "full_view_visibility": 0.999977869227252, "full_view_whole_tray_visibility": 0.9826959040880568, "front_grasp_visibility": 0.7666666666666667, "front_tray_visibility": 0.543918918918919, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 69.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 161.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.6621621621621622, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 196.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9777777777777777, "over_shoulder_left_tray_visibility": 0.671875, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 88.0, "over_shoulder_left_tray_projected_count": 192.0, "over_shoulder_left_tray_visible_count": 129.0, "over_shoulder_right_grasp_visibility": 0.7555555555555555, "over_shoulder_right_tray_visibility": 0.6352941176470588, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 68.0, "over_shoulder_right_tray_projected_count": 170.0, "over_shoulder_right_tray_visible_count": 108.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0282.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0282.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..37c785ac75de5e250818278560efa479598cbd57
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0282.debug.json
@@ -0,0 +1 @@
+{"frame_index": 282, "state": {"door_angle": 0.3922477960586548, "tray_height": 1.348246455192566, "tray_grasped_left": true, "left_arm_pose": [0.2663552463054657, -0.008643373847007751, 1.3472181558609009, 0.05199430510401726, 0.7052294015884399, 0.7052456140518188, 0.050762154161930084], "right_arm_pose": [0.49795106053352356, -0.38350221514701843, 1.0854549407958984, -0.6771745681762695, 0.42993754148483276, 0.5924180746078491, 0.07502780854701996], "left_arm_joint_positions": [-0.25594210624694824, -0.05309244990348816, -0.3558675944805145, -1.967221736907959, 1.4447468519210815, 1.2128729820251465, 0.4893113374710083], "right_arm_joint_positions": [0.8321049213409424, -0.6147356033325195, 0.25088953971862793, -2.9469542503356934, -1.1345793008804321, 1.728179931640625, -2.8025858402252197], "pregrasp_goal_pose": [0.27447492476949187, -0.04895249878725866, 1.3416573287300426, 0.07209115309446744, 0.7580952097125022, 0.6448292483341809, 0.06549625294047297], "pregrasp_position_error": 0.04149310220009125, "pregrasp_orientation_error_deg": 9.635284637877012}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.5641891891891891, "tray_projected_count": 296, "tray_visible_count": 167}, "overhead": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.6283783783783784, "tray_projected_count": 296, "tray_visible_count": 186}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.7329545454545454, "tray_projected_count": 176, "tray_visible_count": 129}, "over_shoulder_right": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.6139240506329114, "tray_projected_count": 158, "tray_visible_count": 97}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.348246455192566, "final_height": 1.348246455192566, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0282.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0282.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0695af088f647d097c51d63c0376f1f1661cc6b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0282.json
@@ -0,0 +1 @@
+{"frame_index": 282, "time_norm": 0.8980891719745223, "door_angle": 0.3922477960586548, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.49795106053352356, "right_arm_pose_y": -0.38350221514701843, "right_arm_pose_z": 1.0854549407958984, "right_arm_pose_qx": -0.6771745681762695, "right_arm_pose_qy": 0.42993754148483276, "right_arm_pose_qz": 0.5924180746078491, "right_arm_pose_qw": 0.07502780854701996, "left_arm_pose_x": 0.2663552463054657, "left_arm_pose_y": -0.008643373847007751, "left_arm_pose_z": 1.3472181558609009, "left_arm_pose_qx": 0.05199430510401726, "left_arm_pose_qy": 0.7052294015884399, "left_arm_pose_qz": 0.7052456140518188, "left_arm_pose_qw": 0.050762154161930084, "tray_height": 1.348246455192566, "tray_grasped_left": 1.0, "pregrasp_progress": 0.851852389769181, "pregrasp_distance": 0.04149310220009125, "pregrasp_position_error": 0.04149310220009125, "pregrasp_orientation_error_deg": 9.635284637877012, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.348246455192566, "p_ext_final_height": 1.348246455192566, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9650793650793651, "three_view_whole_tray_visibility": 0.5910083160083159, "full_view_visibility": 0.999918566420624, "full_view_whole_tray_visibility": 0.9843298414780919, "front_grasp_visibility": 0.7555555555555555, "front_tray_visibility": 0.5641891891891891, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 68.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 167.0, "overhead_grasp_visibility": 0.8111111111111111, "overhead_tray_visibility": 0.6283783783783784, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 73.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 186.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9555555555555556, "over_shoulder_left_tray_visibility": 0.7329545454545454, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 86.0, "over_shoulder_left_tray_projected_count": 176.0, "over_shoulder_left_tray_visible_count": 129.0, "over_shoulder_right_grasp_visibility": 0.7222222222222222, "over_shoulder_right_tray_visibility": 0.6139240506329114, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 65.0, "over_shoulder_right_tray_projected_count": 158.0, "over_shoulder_right_tray_visible_count": 97.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0294.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0294.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8243fe4e65569db5d4009aad5bead8ef41478954
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0294.debug.json
@@ -0,0 +1 @@
+{"frame_index": 294, "state": {"door_angle": 0.3918837308883667, "tray_height": 1.3552539348602295, "tray_grasped_left": true, "left_arm_pose": [0.27809256315231323, 0.06916184723377228, 1.3545572757720947, 0.052197422832250595, 0.7052733898162842, 0.7052127122879028, 0.050398655235767365], "right_arm_pose": [0.49795207381248474, -0.38351011276245117, 1.0854108333587646, -0.6770884990692139, 0.4300524890422821, 0.5924631953239441, 0.07478904724121094], "left_arm_joint_positions": [-0.17716693878173828, -0.12897226214408875, -0.2559156119823456, -2.0385425090789795, 1.4854258298873901, 1.3893640041351318, 0.508487343788147], "right_arm_joint_positions": [0.8321049213409424, -0.6148502826690674, 0.25092434883117676, -2.9471383094787598, -1.1347242593765259, 1.7284057140350342, -2.801917552947998], "pregrasp_goal_pose": [0.2861818037625882, 0.02885225569293698, 1.3490852278761185, 0.07303259770121373, 0.758403123565248, 0.6444885663442084, 0.06422950794669581], "pregrasp_position_error": 0.04147580369342782, "pregrasp_orientation_error_deg": 9.682704779577444}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.5945945945945946, "tray_projected_count": 296, "tray_visible_count": 176}, "overhead": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.6418918918918919, "tray_projected_count": 296, "tray_visible_count": 190}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.6761363636363636, "tray_projected_count": 176, "tray_visible_count": 119}, "over_shoulder_right": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.5425531914893617, "tray_projected_count": 94, "tray_visible_count": 51}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3552539348602295, "final_height": 1.3552539348602295, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0294.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0294.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9e5fa94364ed34745e430883f3bb8e84b77495
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0294.json
@@ -0,0 +1 @@
+{"frame_index": 294, "time_norm": 0.9363057324840764, "door_angle": 0.3918837308883667, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.49795207381248474, "right_arm_pose_y": -0.38351011276245117, "right_arm_pose_z": 1.0854108333587646, "right_arm_pose_qx": -0.6770884990692139, "right_arm_pose_qy": 0.4300524890422821, "right_arm_pose_qz": 0.5924631953239441, "right_arm_pose_qw": 0.07478904724121094, "left_arm_pose_x": 0.27809256315231323, "left_arm_pose_y": 0.06916184723377228, "left_arm_pose_z": 1.3545572757720947, "left_arm_pose_qx": 0.052197422832250595, "left_arm_pose_qy": 0.7052733898162842, "left_arm_pose_qz": 0.7052127122879028, "left_arm_pose_qw": 0.050398655235767365, "tray_height": 1.3552539348602295, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8519141328909069, "pregrasp_distance": 0.04147580369342782, "pregrasp_position_error": 0.04147580369342782, "pregrasp_orientation_error_deg": 9.682704779577444, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3552539348602295, "p_ext_final_height": 1.3552539348602295, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9634920634920635, "three_view_whole_tray_visibility": 0.6195426195426196, "full_view_visibility": 0.999805291005291, "full_view_whole_tray_visibility": 0.9798152693989022, "front_grasp_visibility": 0.7444444444444445, "front_tray_visibility": 0.5945945945945946, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 67.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 176.0, "overhead_grasp_visibility": 0.8666666666666667, "overhead_tray_visibility": 0.6418918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 78.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 190.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9, "over_shoulder_left_tray_visibility": 0.6761363636363636, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 81.0, "over_shoulder_left_tray_projected_count": 176.0, "over_shoulder_left_tray_visible_count": 119.0, "over_shoulder_right_grasp_visibility": 0.6, "over_shoulder_right_tray_visibility": 0.5425531914893617, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 54.0, "over_shoulder_right_tray_projected_count": 94.0, "over_shoulder_right_tray_visible_count": 51.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0295.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0295.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..35990287754fbf884be71d0cd7e5e17a26081fab
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0295.debug.json
@@ -0,0 +1 @@
+{"frame_index": 295, "state": {"door_angle": 0.3919717073440552, "tray_height": 1.3551589250564575, "tray_grasped_left": true, "left_arm_pose": [0.2806529104709625, 0.08601721376180649, 1.3546216487884521, 0.052245911210775375, 0.7052806615829468, 0.7052034139633179, 0.050376974046230316], "right_arm_pose": [0.4979485273361206, -0.38351961970329285, 1.0854525566101074, -0.6770714521408081, 0.430087685585022, 0.5924620628356934, 0.07474968582391739], "left_arm_joint_positions": [-0.16066360473632812, -0.13887783885002136, -0.2339901626110077, -2.050036907196045, 1.496393084526062, 1.4264488220214844, 0.5092741250991821], "right_arm_joint_positions": [0.8321001529693604, -0.614823579788208, 0.2509126663208008, -2.9469995498657227, -1.1347135305404663, 1.7284150123596191, -2.8019325733184814], "pregrasp_goal_pose": [0.2886990517844171, 0.04571269616136028, 1.349248510698972, 0.07319410762088435, 0.7589821826891507, 0.6438060264557256, 0.06405052122570451], "pregrasp_position_error": 0.04144954935785649, "pregrasp_orientation_error_deg": 9.779773507371587}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.5506756756756757, "tray_projected_count": 296, "tray_visible_count": 163}, "overhead": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.7331081081081081, "tray_projected_count": 296, "tray_visible_count": 217}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.6647727272727273, "tray_projected_count": 176, "tray_visible_count": 117}, "over_shoulder_right": {"grasp_visibility": 0.6111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 55, "tray_visibility": 0.41975308641975306, "tray_projected_count": 81, "tray_visible_count": 34}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3551589250564575, "final_height": 1.3551589250564575, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0295.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0295.json
new file mode 100644
index 0000000000000000000000000000000000000000..83133d5a4cbb68336660825d5223a51e9809558a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0295.json
@@ -0,0 +1 @@
+{"frame_index": 295, "time_norm": 0.9394904458598726, "door_angle": 0.3919717073440552, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.4979485273361206, "right_arm_pose_y": -0.38351961970329285, "right_arm_pose_z": 1.0854525566101074, "right_arm_pose_qx": -0.6770714521408081, "right_arm_pose_qy": 0.430087685585022, "right_arm_pose_qz": 0.5924620628356934, "right_arm_pose_qw": 0.07474968582391739, "left_arm_pose_x": 0.2806529104709625, "left_arm_pose_y": 0.08601721376180649, "left_arm_pose_z": 1.3546216487884521, "left_arm_pose_qx": 0.052245911210775375, "left_arm_pose_qy": 0.7052806615829468, "left_arm_pose_qz": 0.7052034139633179, "left_arm_pose_qw": 0.050376974046230316, "tray_height": 1.3551589250564575, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8520078754721451, "pregrasp_distance": 0.04144954935785649, "pregrasp_position_error": 0.04144954935785649, "pregrasp_orientation_error_deg": 9.779773507371587, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3551589250564575, "p_ext_final_height": 1.3551589250564575, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9603174603174603, "three_view_whole_tray_visibility": 0.5783264033264033, "full_view_visibility": 0.999817101051669, "full_view_whole_tray_visibility": 0.9781090821402617, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.5506756756756757, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 163.0, "overhead_grasp_visibility": 0.8666666666666667, "overhead_tray_visibility": 0.7331081081081081, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 78.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 217.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9111111111111111, "over_shoulder_left_tray_visibility": 0.6647727272727273, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 82.0, "over_shoulder_left_tray_projected_count": 176.0, "over_shoulder_left_tray_visible_count": 117.0, "over_shoulder_right_grasp_visibility": 0.6111111111111112, "over_shoulder_right_tray_visibility": 0.41975308641975306, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 55.0, "over_shoulder_right_tray_projected_count": 81.0, "over_shoulder_right_tray_visible_count": 34.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0296.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0296.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8dd23d15e8135142940d663478abf8532520531
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0296.debug.json
@@ -0,0 +1 @@
+{"frame_index": 296, "state": {"door_angle": 0.3922041654586792, "tray_height": 1.3552788496017456, "tray_grasped_left": true, "left_arm_pose": [0.2832072377204895, 0.10324415564537048, 1.3547801971435547, 0.052201222628355026, 0.7053461074829102, 0.7051376700401306, 0.05042673647403717], "right_arm_pose": [0.49795016646385193, -0.3835054039955139, 1.0854405164718628, -0.6770681738853455, 0.43008679151535034, 0.5924647450447083, 0.07476334273815155], "left_arm_joint_positions": [-0.14379549026489258, -0.14681240916252136, -0.21164700388908386, -2.0591254234313965, 1.508414387702942, 1.4639763832092285, 0.5098825693130493], "right_arm_joint_positions": [0.8321053981781006, -0.6149084568023682, 0.2508883476257324, -2.947140693664551, -1.1347020864486694, 1.7283995151519775, -2.8019278049468994], "pregrasp_goal_pose": [0.2912885878896796, 0.06290485195287818, 1.3494554401505274, 0.07336060333948888, 0.7590769442604066, 0.6436960173516444, 0.06384239825994294], "pregrasp_position_error": 0.04148398100456349, "pregrasp_orientation_error_deg": 9.786824425147854}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.5472972972972973, "tray_projected_count": 296, "tray_visible_count": 162}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6959459459459459, "tray_projected_count": 296, "tray_visible_count": 206}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.7102272727272727, "tray_projected_count": 176, "tray_visible_count": 125}, "over_shoulder_right": {"grasp_visibility": 0.5777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 52, "tray_visibility": 0.4868421052631579, "tray_projected_count": 76, "tray_visible_count": 37}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3552788496017456, "final_height": 1.3552788496017456, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0296.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0296.json
new file mode 100644
index 0000000000000000000000000000000000000000..4534bc459aa388774336e342ac416f8a0c8bb181
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0296.json
@@ -0,0 +1 @@
+{"frame_index": 296, "time_norm": 0.9426751592356688, "door_angle": 0.3922041654586792, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.49795016646385193, "right_arm_pose_y": -0.3835054039955139, "right_arm_pose_z": 1.0854405164718628, "right_arm_pose_qx": -0.6770681738853455, "right_arm_pose_qy": 0.43008679151535034, "right_arm_pose_qz": 0.5924647450447083, "right_arm_pose_qw": 0.07476334273815155, "left_arm_pose_x": 0.2832072377204895, "left_arm_pose_y": 0.10324415564537048, "left_arm_pose_z": 1.3547801971435547, "left_arm_pose_qx": 0.052201222628355026, "left_arm_pose_qy": 0.7053461074829102, "left_arm_pose_qz": 0.7051376700401306, "left_arm_pose_qw": 0.05042673647403717, "tray_height": 1.3552788496017456, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8518849327979467, "pregrasp_distance": 0.04148398100456349, "pregrasp_position_error": 0.04148398100456349, "pregrasp_orientation_error_deg": 9.786824425147854, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3552788496017456, "p_ext_final_height": 1.3552788496017456, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9619047619047619, "three_view_whole_tray_visibility": 0.5751559251559251, "full_view_visibility": 0.999978156639885, "full_view_whole_tray_visibility": 0.9807917018990654, "front_grasp_visibility": 0.7333333333333333, "front_tray_visibility": 0.5472972972972973, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 66.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 162.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.6959459459459459, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 206.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.9888888888888889, "over_shoulder_left_tray_visibility": 0.7102272727272727, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 89.0, "over_shoulder_left_tray_projected_count": 176.0, "over_shoulder_left_tray_visible_count": 125.0, "over_shoulder_right_grasp_visibility": 0.5777777777777777, "over_shoulder_right_tray_visibility": 0.4868421052631579, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 52.0, "over_shoulder_right_tray_projected_count": 76.0, "over_shoulder_right_tray_visible_count": 37.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0308.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0308.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbbc7233e2f8a2e16e505b7a68a8e9960c1a2368
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0308.debug.json
@@ -0,0 +1 @@
+{"frame_index": 308, "state": {"door_angle": 0.3918837308883667, "tray_height": 1.3504222631454468, "tray_grasped_left": false, "left_arm_pose": [0.29063764214515686, 0.15564702451229095, 1.3551548719406128, 0.05219557508826256, 0.7052576541900635, 0.7052139043807983, 0.05060344189405441], "right_arm_pose": [0.497959703207016, -0.3834681212902069, 1.0853545665740967, -0.6771026849746704, 0.4300338923931122, 0.5924524664878845, 0.07485342770814896], "left_arm_joint_positions": [-0.09337520599365234, -0.15899822115898132, -0.14469453692436218, -2.073288679122925, 1.5481292009353638, 1.5740914344787598, 0.5104557275772095], "right_arm_joint_positions": [0.8321113586425781, -0.6146864891052246, 0.2508687973022461, -2.94722843170166, -1.1347342729568481, 1.7284104824066162, -2.8019230365753174], "pregrasp_goal_pose": [0.29883440851946463, 0.11470054489729933, 1.3438633231558845, 0.07179029087864768, 0.7581569728615535, 0.6448298768507398, 0.06510444345530206], "pregrasp_position_error": 0.043258528012564246, "pregrasp_orientation_error_deg": 9.616773853146118}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.21785714285714286, "tray_projected_count": 280, "tray_visible_count": 61}, "overhead": {"grasp_visibility": 0.5777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 52, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 84, "grasp_visible_count": 0, "tray_visibility": 0.23076923076923078, "tray_projected_count": 130, "tray_visible_count": 30}, "over_shoulder_left": {"grasp_visibility": 0.03333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 3, "tray_visibility": 0.44886363636363635, "tray_projected_count": 176, "tray_visible_count": 79}, "over_shoulder_right": {"grasp_visibility": 0.13333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 12, "tray_visibility": 0.2619047619047619, "tray_projected_count": 42, "tray_visible_count": 11}}}, "p_pre": {"tray_grasped_left": false, "source": "strict", "best_goal_index": 0, "num_goal_poses": 3, "source_strict": true, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.18479753190780207, "assisted_length": 0.0, "assisted_reliability": 0.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [0.29883440851946463, 0.11470054489729933, 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"height_before": 1.3504222631454468, "height_after": 1.3504225015640259}, {"milestone_index": 1, "kind": "approach", "ignore_collisions": false, "path_found": true, "path_length": 0.11041302311337683, "reliability": 1.0, "planner_score": 0.8631063486463318, "height_before": 1.3504225015640259, "height_after": 1.3504222631454468}, {"milestone_index": 2, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.8726054783164405, "reliability": 1.0, "planner_score": 0.08234748984033392, "height_before": 1.3504222631454468, "height_after": 1.1743777990341187}, {"milestone_index": 3, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.1937845502849336, "reliability": 1.0, "planner_score": 0.20357664039679713, "height_before": 1.1743777990341187, "height_after": 1.263041615486145}, {"milestone_index": 4, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0795631031966324, "reliability": 1.0, "planner_score": 0.23706581619667194, "height_before": 1.263041615486145, "height_after": 1.4768962860107422}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0308.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0308.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e43de2e9fccd7cfab1a423d769903a71f625138
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0308.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0309.debug.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0309.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba925348caca72914b53f4c0b4a6f3dd3f7b193a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0309.debug.json
@@ -0,0 +1 @@
+{"frame_index": 309, "state": {"door_angle": 0.39242613315582275, "tray_height": 1.3504223823547363, "tray_grasped_left": false, "left_arm_pose": [0.29062214493751526, 0.1556558609008789, 1.3549734354019165, 0.052312400192022324, 0.7052737474441528, 0.7051982283592224, 0.05047670379281044], "right_arm_pose": [0.4979782998561859, -0.38341039419174194, 1.0852673053741455, -0.6771382689476013, 0.429986834526062, 0.592430055141449, 0.07497810572385788], "left_arm_joint_positions": [-0.09337043762207031, -0.15882346034049988, -0.14469096064567566, -2.0737037658691406, 1.5480486154556274, 1.5741186141967773, 0.5104361772537231], "right_arm_joint_positions": [0.8321118354797363, -0.6146881580352783, 0.2508566379547119, -2.9474239349365234, -1.1346887350082397, 1.7284018993377686, -2.801968574523926], "pregrasp_goal_pose": [0.29870106055079604, 0.11489911645567819, 1.3438620543922577, 0.07215840479068517, 0.7581233101851758, 0.6447952692208124, 0.06543142946929674], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0309.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0309.json
new file mode 100644
index 0000000000000000000000000000000000000000..d723e98ec6bf76db8d881169f6251a72eadd9d6e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/frame_rows/frame_0309.json
@@ -0,0 +1 @@
+{"frame_index": 309, "time_norm": 0.9840764331210191, "door_angle": 0.39242613315582275, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4979782998561859, "right_arm_pose_y": -0.38341039419174194, "right_arm_pose_z": 1.0852673053741455, "right_arm_pose_qx": -0.6771382689476013, "right_arm_pose_qy": 0.429986834526062, "right_arm_pose_qz": 0.592430055141449, "right_arm_pose_qw": 0.07497810572385788, "left_arm_pose_x": 0.29062214493751526, "left_arm_pose_y": 0.1556558609008789, "left_arm_pose_z": 1.3549734354019165, "left_arm_pose_qx": 0.052312400192022324, "left_arm_pose_qy": 0.7052737474441528, "left_arm_pose_qz": 0.7051982283592224, "left_arm_pose_qw": 0.05047670379281044, "tray_height": 1.3504223823547363, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8464370898515748, "pregrasp_distance": 0.043009811475984386, "pregrasp_position_error": 0.043009811475984386, "pregrasp_orientation_error_deg": 9.630640083528819, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.18427112599038073, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.29870106055079604, "p_pre_best_target_pose_y": 0.11489911645567819, "p_pre_best_target_pose_z": 1.3438620543922577, "p_pre_best_target_pose_qx": 0.07215840479068517, "p_pre_best_target_pose_qy": 0.7581233101851758, "p_pre_best_target_pose_qz": 0.6447952692208124, "p_pre_best_target_pose_qw": 0.06543142946929674, "p_ext_initial_height": 1.3504223823547363, "p_ext_final_height": 1.4750256538391113, "p_ext_total_length": 4.438943315617479, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.24679024959530754, "p_ext_retreat_score": 0.07849821491328521, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.3983516483516484, "full_view_visibility": 0.6971467764060357, "full_view_whole_tray_visibility": 0.8772523326094754, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.21785714285714286, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 280.0, "front_tray_visible_count": 61.0, "overhead_grasp_visibility": 0.6111111111111112, "overhead_tray_visibility": 0.47635135135135137, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 55.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 141.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.23076923076923078, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 30.0, "over_shoulder_left_grasp_visibility": 0.07777777777777778, "over_shoulder_left_tray_visibility": 0.45454545454545453, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 7.0, "over_shoulder_left_tray_projected_count": 176.0, "over_shoulder_left_tray_visible_count": 80.0, "over_shoulder_right_grasp_visibility": 0.15555555555555556, "over_shoulder_right_tray_visibility": 0.2857142857142857, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 14.0, "over_shoulder_right_tray_projected_count": 42.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/templates.json b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/.episode47.tmp/templates.json
@@ -0,0 +1,244 @@
+{
+  "template_mode": "per_episode",
+  "template_episode": "episode0",
+  "template_frames": {
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+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
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+  "templates": {
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+        0.3352571906446373,
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+        0.329811114442256
+      ],
+      [
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+        0.05725332349538803,
+        0.6016567945480347,
+        0.3290406683903203,
+        0.6269357648722236,
+        0.625839814295268,
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+      ],
+      [
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+        0.09445947408676147,
+        0.6008111238479614,
+        0.3295905054305836,
+        0.6274618621218736,
+        0.6252874250360436,
+        0.3266149819043174
+      ],
+      [
+        0.1597837209701538,
+        0.1288578361272812,
+        0.6011183261871338,
+        0.3293548308249215,
+        0.627458650421648,
+        0.6253267712318655,
+        0.32678351642036935
+      ],
+      [
+        0.19115081429481506,
+        0.15017743408679962,
+        0.6012866497039795,
+        0.3296702831570499,
+        0.6273651178974856,
+        0.6251746471824625,
+        0.3269360392628933
+      ]
+    ],
+    "grasp_local_center": [
+      -0.09865615619553109,
+      0.09471180553609354,
+      -0.02358700847419226
+    ],
+    "grasp_region_extents": [
+      0.03,
+      0.015,
+      0.004
+    ],
+    "retriever_home_joints": [
+      1.4340894267661497e-06,
+      0.17521002888679504,
+      6.947189831407741e-06,
+      -0.8730043768882751,
+      -1.9187582438462414e-05,
+      1.2215814590454102,
+      0.7853902578353882
+    ],
+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      192
+    ]
+  },
+  "template_source_json": "/workspace/VLAdaptorBench_upload/artifacts/results/metric_iter24_ep0_door_contact_geom/templates.json"
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode46.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode46.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..2b4dca62d81a71c1294f9ffc56fb32eb5bbe34ba
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode46.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
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+    "post_ready_hold_open_low_gain": 2.0,
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+    "baseline_auprc_door_yext": 0.1309806660421444,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999999,
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+    "baseline_auprc_whole_vis_yext": 0.7052137844428105,
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+    "pre_ready_hold_open_increases_pext": 0.0,
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+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode47.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode47.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode59.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode59.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..32c9c37c061ac79acb585911a749c9e5322f1820
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode59.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "phase_switch_rises": 1.0,
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+    "ppre_cross_frame": 146.0,
+    "pext_cross_frame": 248.0,
+    "phase_cross_frame": 155.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 249.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 94.0,
+    "dense_boundary_error_fraction": 0.2874617737003058,
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+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9977416440831074,
+    "auprc_vret_ypre_three": 0.9933171503885847,
+    "auroc_vret_ypre_full": 0.998343872327612,
+    "auprc_vret_ypre_full": 0.9952835693393176,
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+    "auroc_phase_yready": 0.993975903614458,
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+    "baseline_auprc_door_yext": 0.13349373116733987,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999997,
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+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
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+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
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+    "auprc_ppre_ypre": 1.0,
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+    "baseline_auprc_time_yext": 0.9999999999999997,
+    "baseline_auroc_whole_vis_yext": 0.9308901592486729,
+    "baseline_auprc_whole_vis_yext": 0.9037834741069276,
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+    "pre_ready_extract_success": 0.0,
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+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode60.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode60.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..52c56130b034ec93ed890c80e31c2cdc4da10ca5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode60.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+  },
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+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode61.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode61.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..caebca32da1ac4db3637c2fe05bd6d7cd2e79ee0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode61.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "phase_cross_frame": 167.0,
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+    "ready_cross_frame": 260.0,
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+    "dense_boundary_error_frames": 93.0,
+    "dense_boundary_error_fraction": 0.27514792899408286,
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+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.838353268962867,
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+    "auprc_phase_yready": 0.6777613412228797,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
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+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode62.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode62.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..7ea02f99866c32467788d6c27f2545fb3025bd07
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode62.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
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+    "phase_cross_frame": 175.0,
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+    "ready_cross_frame": 255.0,
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+    "f1_phase_yretrieve": NaN,
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+    "auprc_phase_yready": 0.963855421686747,
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+    "baseline_auprc_whole_vis_yext": 0.8686175191249157,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode63.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode63.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..b0d5fb1a5b1d6f19b6132ff59570899f08dd0c04
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode63.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "ready_cross_frame": 247.0,
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+    "dense_boundary_error_frames": 93.0,
+    "dense_boundary_error_fraction": 0.2852760736196319,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9748850459816073,
+    "auprc_vret_ypre_three": 0.9640911946480566,
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+    "pre_ready_wait_trials": 2.0,
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+    "post_ready_open_more_low_gain": 2.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode64.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode64.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..07992c9e5738c69a10e74119668791ea844e23de
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode64.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 325.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
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+    "pext_cross_frame": 240.0,
+    "phase_cross_frame": 151.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 241.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 90.0,
+    "dense_boundary_error_fraction": 0.27692307692307694,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 2.0,
+    "auroc_vret_ypre_three": 0.8795759683183618,
+    "auprc_vret_ypre_three": 0.8738955934348638,
+    "auroc_vret_ypre_full": 0.9206751666183715,
+    "auprc_vret_ypre_full": 0.8985152342543472,
+    "auroc_ppre_ypre": 0.9836762291123344,
+    "auprc_ppre_ypre": 0.9831653404067198,
+    "auroc_pext_yext": 0.9913480392156864,
+    "auprc_pext_yext": 0.9861265260821309,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9769314364750048,
+    "auprc_phase_yready": 0.9478905408317173,
+    "f1_phase_yready": 0.6511627906976745,
+    "baseline_auroc_door_yext": 0.013333333333333332,
+    "baseline_auprc_door_yext": 0.14570619199157944,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.9120588235294117,
+    "baseline_auprc_whole_vis_yext": 0.8833281793829971,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 325.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 143.0,
+    "pext_cross_frame": 240.0,
+    "phase_cross_frame": 151.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 241.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 90.0,
+    "dense_boundary_error_fraction": 0.27692307692307694,
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+    "key_boundary_error_keyframes": 2.0,
+    "auroc_vret_ypre_three": 0.8795759683183618,
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+    "auroc_pext_yext": 0.9913480392156864,
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+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9769314364750048,
+    "auprc_phase_yready": 0.9478905408317173,
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+    "baseline_auroc_door_yext": 0.013333333333333332,
+    "baseline_auprc_door_yext": 0.14570619199157944,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.9120588235294117,
+    "baseline_auprc_whole_vis_yext": 0.8833281793829971,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode65.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode65.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..cffff40abaad59fb3992863924c928323e497626
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode65.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "phase_cross_frame": 140.0,
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+    "key_boundary_error_keyframes": 1.0,
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+    "auroc_phase_yready": 0.9929577464788732,
+    "auprc_phase_yready": 0.9659090909090909,
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+    "baseline_auprc_time_yext": 0.9999999999999999,
+    "baseline_auroc_whole_vis_yext": 0.9183098591549295,
+    "baseline_auprc_whole_vis_yext": 0.8954531037594172,
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+    "pre_ready_open_more_trials": 2.0,
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+    "pre_ready_extract_trials": 2.0,
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+    "post_ready_extract_success": 2.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
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+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999999,
+    "baseline_auroc_whole_vis_yext": 0.9183098591549295,
+    "baseline_auprc_whole_vis_yext": 0.8954531037594172,
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+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode66.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode66.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..59a4a8db6e74da4d394bcb9a2cc478c5a8875350
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode66.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "key_boundary_error_keyframes": 1.0,
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+    "auroc_phase_yready": 0.9910714285714286,
+    "auprc_phase_yready": 0.9603960396039604,
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+    "baseline_auroc_whole_vis_yext": 0.9217534547451267,
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+    "post_ready_hold_open_trials": 2.0
+  },
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+    "auroc_phase_yretrieve": NaN,
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+    "auroc_phase_yready": 0.9910714285714286,
+    "auprc_phase_yready": 0.9603960396039604,
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+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9217534547451267,
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+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode67.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode67.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..71a61b868d4c2e05d970d52eb6f35f888c7f094a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode67.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 326.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 143.0,
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+    "phase_cross_frame": 147.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 229.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 82.0,
+    "dense_boundary_error_fraction": 0.25153374233128833,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9992920353982301,
+    "auprc_vret_ypre_three": 0.9984534419828537,
+    "auroc_vret_ypre_full": 0.9942920353982301,
+    "auprc_vret_ypre_full": 0.9904411503988968,
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+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9912663755458515,
+    "auprc_phase_yready": 0.9603960396039604,
+    "f1_phase_yready": 0.7028985507246378,
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+    "baseline_auprc_door_yext": 0.1678320356150071,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.9193265205060099,
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+    "post_ready_hold_open_low_gain": 2.0,
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+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode68.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode68.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..3c9c8cc5f882e2765d4a761dcbf6763b72267c85
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode68.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode69.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode69.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..9ae12f866604b95a926969acb8989ce875f82d06
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode69.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode70.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode70.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..cdde018989e909a325a45860c6cce263e503624e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode70.attempt01.log
@@ -0,0 +1,133 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
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+    "auprc_phase_yretrieve": NaN,
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+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+  "reversion_rate": 0.0,
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode71.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode71.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..f763d9b0be6932e968794be13ddff015c11c9499
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode71.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+    "post_ready_hold_open_trials": 2.0
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode72.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode72.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..f4fb0d9996428159987b97c0c12e6fa9859e25ca
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode72.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+    "dense_boundary_error_frames": 101.0,
+    "dense_boundary_error_fraction": 0.3005952380952381,
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+    "key_boundary_error_keyframes": 3.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode73.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode73.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..b1fd473671bcf82448981edbde60c1e2e98a2a9d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode73.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+    "dense_boundary_error_fraction": 0.09734513274336283,
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+    "key_boundary_error_keyframes": 0.0,
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+    "post_ready_open_more_low_gain": 1.0,
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+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode74.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode74.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..df59bcca8fe3592e4bc2e62e3f05493ac3c2bc06
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode74.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode75.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode75.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..30bb5cea9e579d059c1055e7b424df62ab029fda
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode75.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "post_ready_extract_success": 2.0,
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+    "post_ready_open_more_low_gain": 2.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode76.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode76.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..a740e69a063184d762d8cd86e77d606631433790
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode76.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+    "dense_boundary_error_fraction": 0.267741935483871,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9866666666666666,
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+    "post_ready_open_more_low_gain": 2.0,
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode77.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode77.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..f2bea620be14425c7135dcc2b1a765ed5882b42c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode77.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "dense_boundary_error_fraction": 0.2508250825082508,
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+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.965623369848722,
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+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
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+    "auprc_phase_yready": 0.9666666666666667,
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+    "post_ready_open_more_low_gain": 2.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+    "baseline_auprc_time_yext": 0.9999999999999999,
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+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode78.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode78.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..a93ac0d4fac5bc4a39fc6d47567dce4655f65e73
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode78.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode79.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode79.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..4ee55806523aa2f4803e74240b71b4f68a358730
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode79.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode80.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode80.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..dfc85bf8c4599aaed057e6e927a111661cca6b0a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode80.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode81.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode81.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..733fd3193fe29e1e01c2c3f2a4e10141af3a66e4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode81.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
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+    "post_ready_hold_open_trials": 2.0
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode82.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode82.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..b682af488c77488e8fe178d107b36e9bcf019411
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode82.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
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+  "mean_metrics": {
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+    "post_ready_hold_open_trials": 2.0
+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode83.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode83.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..19c71fa5a7423c415987dfe6b73a88381b00b7e3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode83.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+  },
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode84.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode84.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..81c17e43382c136f28f0e1c8854585c27a53f121
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode84.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "dense_boundary_error_fraction": 0.275,
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode85.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode85.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..d9fd5803660702aca5ed0b1025a90dde4f0c7a25
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode85.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode86.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode86.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..84fea1709a64d64459a7739a95923c1c46ec9715
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode86.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode87.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode87.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..1fbef706311eadac896daa3fa2e3c0723ee930f2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode87.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
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+    "auroc_vret_ypre_full": 0.9936941964285714,
+    "auprc_vret_ypre_full": 0.9868614303959131,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9912280701754386,
+    "auprc_phase_yready": 0.95,
+    "f1_phase_yready": 0.6846846846846847,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.14062458156951824,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.921505806968362,
+    "baseline_auprc_whole_vis_yext": 0.8936433321267429,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode88.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode88.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..7aa014f6492ba3e76f3ae62b60afea2f9e3346f9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode88.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 431.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 270.0,
+    "pext_cross_frame": 325.0,
+    "phase_cross_frame": 290.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 326.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 36.0,
+    "dense_boundary_error_fraction": 0.08352668213457076,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.9888312724371758,
+    "auprc_vret_ypre_three": 0.9812490726731478,
+    "auroc_vret_ypre_full": 0.9778904780899197,
+    "auprc_vret_ypre_full": 0.9679821317518544,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9938650306748466,
+    "auprc_phase_yready": 0.963302752293578,
+    "f1_phase_yready": 0.8536585365853657,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.13568984905285963,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999999,
+    "baseline_auroc_whole_vis_yext": 0.906589259796807,
+    "baseline_auprc_whole_vis_yext": 0.8898814961886937,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 431.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 270.0,
+    "pext_cross_frame": 325.0,
+    "phase_cross_frame": 290.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 326.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 36.0,
+    "dense_boundary_error_fraction": 0.08352668213457076,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 0.0,
+    "auroc_vret_ypre_three": 0.9888312724371758,
+    "auprc_vret_ypre_three": 0.9812490726731478,
+    "auroc_vret_ypre_full": 0.9778904780899197,
+    "auprc_vret_ypre_full": 0.9679821317518544,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9938650306748466,
+    "auprc_phase_yready": 0.963302752293578,
+    "f1_phase_yready": 0.8536585365853657,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.13568984905285963,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999999,
+    "baseline_auroc_whole_vis_yext": 0.906589259796807,
+    "baseline_auprc_whole_vis_yext": 0.8898814961886937,
+    "pre_ready_open_more_increases_pext": 1.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode89.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode89.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..143afc0f7076e0a7ee8db2c4d61d76ba518d7f69
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode89.attempt01.log
@@ -0,0 +1,133 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 297.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 130.0,
+    "pext_cross_frame": 214.0,
+    "phase_cross_frame": 138.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 214.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 76.0,
+    "dense_boundary_error_fraction": 0.2558922558922559,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.8438223299900807,
+    "auprc_vret_ypre_three": 0.8252206776908223,
+    "auroc_vret_ypre_full": 0.9255483302105147,
+    "auprc_vret_ypre_full": 0.9056684011323044,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9929906542056075,
+    "auprc_phase_yready": 0.9651162790697675,
+    "f1_phase_yready": 0.6859504132231404,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15669077969271183,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9214052471568518,
+    "baseline_auprc_whole_vis_yext": 0.8971845962431996,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 297.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 130.0,
+    "pext_cross_frame": 214.0,
+    "phase_cross_frame": 138.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 214.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 76.0,
+    "dense_boundary_error_fraction": 0.2558922558922559,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.8438223299900807,
+    "auprc_vret_ypre_three": 0.8252206776908223,
+    "auroc_vret_ypre_full": 0.9255483302105147,
+    "auprc_vret_ypre_full": 0.9056684011323044,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9929906542056075,
+    "auprc_phase_yready": 0.9651162790697675,
+    "f1_phase_yready": 0.6859504132231404,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15669077969271183,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9214052471568518,
+    "baseline_auprc_whole_vis_yext": 0.8971845962431996,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode90.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode90.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..0d5382d99fa70baae3a688de6b162c59859e0775
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode90.attempt01.log
@@ -0,0 +1,133 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 333.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 153.0,
+    "pext_cross_frame": 248.0,
+    "phase_cross_frame": 153.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 248.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 95.0,
+    "dense_boundary_error_fraction": 0.2852852852852853,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 3.0,
+    "auroc_vret_ypre_three": 0.9578849721706865,
+    "auprc_vret_ypre_three": 0.9001943636691713,
+    "auroc_vret_ypre_full": 0.9941558441558441,
+    "auprc_vret_ypre_full": 0.9913747621504538,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 0.9999999999999999,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9939516129032258,
+    "auprc_phase_yready": 0.9659090909090909,
+    "f1_phase_yready": 0.6415094339622641,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.14169326540452004,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.9274193548387097,
+    "baseline_auprc_whole_vis_yext": 0.8991445438195006,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 333.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 153.0,
+    "pext_cross_frame": 248.0,
+    "phase_cross_frame": 153.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 248.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 95.0,
+    "dense_boundary_error_fraction": 0.2852852852852853,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 3.0,
+    "auroc_vret_ypre_three": 0.9578849721706865,
+    "auprc_vret_ypre_three": 0.9001943636691713,
+    "auroc_vret_ypre_full": 0.9941558441558441,
+    "auprc_vret_ypre_full": 0.9913747621504538,
+    "auroc_ppre_ypre": 1.0,
+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 0.9999999999999999,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9939516129032258,
+    "auprc_phase_yready": 0.9659090909090909,
+    "f1_phase_yready": 0.6415094339622641,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.14169326540452004,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.9274193548387097,
+    "baseline_auprc_whole_vis_yext": 0.8991445438195006,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode91.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode91.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..38913a535d6f9b879e9b28c74a62721e1eb5e8c8
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode91.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
+    "num_dense_frames": 387.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 144.0,
+    "pext_cross_frame": 305.0,
+    "phase_cross_frame": 155.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 305.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 150.0,
+    "dense_boundary_error_fraction": 0.3875968992248062,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9535644721464744,
+    "auprc_vret_ypre_three": 0.916154404724478,
+    "auroc_vret_ypre_full": 0.9674328009349435,
+    "auprc_vret_ypre_full": 0.9381388987578292,
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+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9950819672131148,
+    "auprc_phase_yready": 0.9647058823529412,
+    "f1_phase_yready": 0.5222929936305732,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1157106250924792,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.8965213914434226,
+    "baseline_auprc_whole_vis_yext": 0.8659442386892666,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 387.0,
+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 144.0,
+    "pext_cross_frame": 305.0,
+    "phase_cross_frame": 155.0,
+    "retrieve_cross_frame": -1.0,
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+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 150.0,
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+    "key_boundary_error_keyframes": 1.0,
+    "auroc_vret_ypre_three": 0.9535644721464744,
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+    "auroc_vret_ypre_full": 0.9674328009349435,
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+    "auprc_ppre_ypre": 1.0,
+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9950819672131148,
+    "auprc_phase_yready": 0.9647058823529412,
+    "f1_phase_yready": 0.5222929936305732,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.1157106250924792,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.8965213914434226,
+    "baseline_auprc_whole_vis_yext": 0.8659442386892666,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode92.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode92.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..330c5761b5a1e2647c58d0119b42f7bfc40f7637
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode92.attempt01.log
@@ -0,0 +1,141 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')).
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "key_boundary_error_keyframes": 3.0,
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+    "auroc_phase_yretrieve": NaN,
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+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9931818181818182,
+    "auprc_phase_yready": 0.9651162790697675,
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+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999997,
+    "baseline_auroc_whole_vis_yext": 0.9348227875625136,
+    "baseline_auprc_whole_vis_yext": 0.9070874494065277,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
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+    "num_keyframes": 14.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 132.0,
+    "pext_cross_frame": 219.0,
+    "phase_cross_frame": 132.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 220.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
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+    "key_boundary_error_keyframes": 3.0,
+    "auroc_vret_ypre_three": 0.998580002143393,
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+    "auroc_pext_yext": 1.0,
+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.9931818181818182,
+    "auprc_phase_yready": 0.9651162790697675,
+    "f1_phase_yready": 0.6535433070866141,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.15528493427119303,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 0.9999999999999997,
+    "baseline_auroc_whole_vis_yext": 0.9348227875625136,
+    "baseline_auprc_whole_vis_yext": 0.9070874494065277,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode93.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode93.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..19d4f3fa3054a0c1c812d2c46947c92828af8b45
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode93.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "num_keyframes": 15.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
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+    "phase_cross_frame": 149.0,
+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 238.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 89.0,
+    "dense_boundary_error_fraction": 0.2680722891566265,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 3.0,
+    "auroc_vret_ypre_three": 0.931695547269138,
+    "auprc_vret_ypre_three": 0.9259400429687815,
+    "auroc_vret_ypre_full": 0.95768808949331,
+    "auprc_vret_ypre_full": 0.9560999215790722,
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+    "auroc_pext_yext": 0.8454141683322228,
+    "auprc_pext_yext": 0.8871255484886209,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.884476130877883,
+    "auprc_phase_yready": 0.8565750634435337,
+    "f1_phase_yready": 0.6787003610108303,
+    "baseline_auroc_door_yext": 0.0058627581612258495,
+    "baseline_auprc_door_yext": 0.16067392141984596,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.8425049966688873,
+    "baseline_auprc_whole_vis_yext": 0.8013205714651237,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
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+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 332.0,
+    "num_keyframes": 15.0,
+    "phase_switch_rises": 1.0,
+    "phase_switch_falls": 0.0,
+    "ppre_cross_frame": 142.0,
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+    "retrieve_cross_frame": -1.0,
+    "ready_cross_frame": 238.0,
+    "dense_boundary_error_to_retrieve_frames": NaN,
+    "dense_boundary_error_frames": 89.0,
+    "dense_boundary_error_fraction": 0.2680722891566265,
+    "key_boundary_error_to_retrieve_keyframes": NaN,
+    "key_boundary_error_keyframes": 3.0,
+    "auroc_vret_ypre_three": 0.931695547269138,
+    "auprc_vret_ypre_three": 0.9259400429687815,
+    "auroc_vret_ypre_full": 0.95768808949331,
+    "auprc_vret_ypre_full": 0.9560999215790722,
+    "auroc_ppre_ypre": 0.8937924983549024,
+    "auprc_ppre_ypre": 0.8922832222360231,
+    "auroc_pext_yext": 0.8454141683322228,
+    "auprc_pext_yext": 0.8871255484886209,
+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.884476130877883,
+    "auprc_phase_yready": 0.8565750634435337,
+    "f1_phase_yready": 0.6787003610108303,
+    "baseline_auroc_door_yext": 0.0058627581612258495,
+    "baseline_auprc_door_yext": 0.16067392141984596,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.8425049966688873,
+    "baseline_auprc_whole_vis_yext": 0.8013205714651237,
+    "pre_ready_open_more_increases_pext": 0.0,
+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode94.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode94.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..814717a7d0e731362024a9c40c0e11b0e38448ff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode94.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "num_keyframes": 14.0,
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+    "key_boundary_error_keyframes": 1.0,
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+    "auroc_phase_yretrieve": NaN,
+    "auprc_phase_yretrieve": NaN,
+    "f1_phase_yretrieve": NaN,
+    "auroc_phase_yready": 0.8778571428571429,
+    "auprc_phase_yready": 0.8187881832958104,
+    "f1_phase_yready": 0.663716814159292,
+    "baseline_auroc_door_yext": 0.0,
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+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9039414680198253,
+    "baseline_auprc_whole_vis_yext": 0.8629737115218445,
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+    "pre_ready_open_more_trials": 2.0,
+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
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+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
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+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "median_metrics": {
+    "num_dense_frames": 299.0,
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+    "auroc_phase_yready": 0.8778571428571429,
+    "auprc_phase_yready": 0.8187881832958104,
+    "f1_phase_yready": 0.663716814159292,
+    "baseline_auroc_door_yext": 0.0,
+    "baseline_auprc_door_yext": 0.14114885057718546,
+    "baseline_auroc_time_yext": 1.0,
+    "baseline_auprc_time_yext": 1.0,
+    "baseline_auroc_whole_vis_yext": 0.9039414680198253,
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+    "pre_ready_hold_open_increases_pext": 0.0,
+    "pre_ready_hold_open_trials": 2.0,
+    "pre_ready_extract_success": 0.0,
+    "pre_ready_extract_trials": 2.0,
+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 1.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
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+  "ordering_ok_rate": 1.0
+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode95.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode95.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..04b86a390798532e30248d8bac0646e015fa64b3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode95.attempt01.log
@@ -0,0 +1,141 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
+  "mean_metrics": {
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+    "num_keyframes": 15.0,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+    "auprc_phase_yready": 0.9583333333333334,
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+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
+  "reversion_rate": 0.0,
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode96.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode96.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..1a5a3744c5ecfa9a383b83df3fa89b287ab2a7c4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode96.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "auprc_phase_yready": 0.952746915260652,
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+    "auprc_pext_yext": 1.0,
+    "auroc_phase_yretrieve": NaN,
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+    "auprc_phase_yready": 0.952746915260652,
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+    "baseline_auprc_time_yext": 0.9999999999999998,
+    "baseline_auroc_whole_vis_yext": 0.9159238472543194,
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+    "pre_ready_wait_extract_success": 0.0,
+    "pre_ready_wait_trials": 2.0,
+    "post_ready_extract_success": 2.0,
+    "post_ready_extract_trials": 2.0,
+    "post_ready_open_more_low_gain": 2.0,
+    "post_ready_open_more_trials": 2.0,
+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
+  },
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+  "reversion_rate": 0.0,
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode97.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode97.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..66271efd5d7c74234743d472f690b0e9a6f4b1ad
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode97.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+    "ready_cross_frame": 225.0,
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+    "dense_boundary_error_fraction": 0.0880503144654088,
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+    "post_ready_hold_open_low_gain": 2.0,
+    "post_ready_hold_open_trials": 2.0
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode98.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode98.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..486b04bfb4f1a662f40f00efdd67d25c1adae0b0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode98.attempt01.log
@@ -0,0 +1,125 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+[CoppeliaSim:loadinfo]   done.
+{
+  "num_episodes": 1,
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+    "post_ready_hold_open_trials": 2.0
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+}
diff --git a/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode99.attempt01.log b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode99.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..d53862d49d07311a6e34cc3d271243ecfa608d3b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardB_ep46_72/logs/episode99.attempt01.log
@@ -0,0 +1,117 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+WARNING: QApplication was not created in the main() thread.
+WARNING:root:not sure how _robot_shapes are used is used.
+[CoppeliaSim:loadinfo]   done.
+{
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+    "post_ready_hold_open_trials": 2.0
+  },
+  "single_switch_rate": 1.0,
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+}
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0000.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0000.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd6cc00b5f678edd36e2fdcf50b19b472b61d3be
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0000.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0000.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0000.json
new file mode 100644
index 0000000000000000000000000000000000000000..b645a54c30ddaaa8e89cee8406ad538b9b92ff65
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0000.json
@@ -0,0 +1 @@
+{"frame_index": 0, "time_norm": 0.0, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24514682590961456, "right_arm_pose_y": -0.24187377095222473, "right_arm_pose_z": 1.4707229137420654, "right_arm_pose_qx": -0.9927932024002075, "right_arm_pose_qy": -2.172099812014494e-06, "right_arm_pose_qz": 0.11984051764011383, "right_arm_pose_qw": 1.921894545375835e-05, "left_arm_pose_x": 0.3024262487888336, "left_arm_pose_y": 0.0681263655424118, "left_arm_pose_z": 1.4701228141784668, "left_arm_pose_qx": -0.043308548629283905, "left_arm_pose_qy": 0.9918820261955261, "left_arm_pose_qz": 0.005215405952185392, "left_arm_pose_qw": 0.11944564431905746, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4464413365789714, "pregrasp_position_error": 0.4464413365789714, "pregrasp_orientation_error_deg": 83.57035670227881, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 272.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0001.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0001.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b13091568a48b59331f028475b81dce360f78f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0001.debug.json
@@ -0,0 +1 @@
+{"frame_index": 1, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.3024534583091736, 0.0680842399597168, 1.4698089361190796, -0.043175991624593735, 0.9919067621231079, 0.005412798374891281, 0.11927977949380875], "right_arm_pose": [0.24506239593029022, -0.24174447357654572, 1.470143437385559, -0.9928910136222839, -0.0011122709838673472, 0.11901979148387909, 0.0006511396495625377], "left_arm_joint_positions": [-0.0002512896026019007, 0.17438581585884094, -7.339987496379763e-05, -0.8761624693870544, 0.0005351356230676174, 1.2226357460021973, 0.7855709791183472], "right_arm_joint_positions": [-0.000254389044130221, 0.17597582936286926, 0.0006308886222541332, -0.8746470808982849, -0.0013648220337927341, 1.2209868431091309, 0.7828036546707153], "pregrasp_goal_pose": [0.2639424618756796, 0.18484159971130112, 1.0409273556558807, 0.19328963523435855, 0.7366230064381936, 0.6258365549995417, 0.16838726116672656], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0001.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0001.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fe277c4e11f351224d86542088bbfdd60ee02f8
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0001.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0002.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0002.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..263a9cfb02a4261e4ba7be48efa19b7d5f39d440
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0002.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0002.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0002.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad95bf82a56826ce842197878a03496c9bfc8fee
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0002.json
@@ -0,0 +1 @@
+{"frame_index": 2, "time_norm": 0.005917159763313609, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24470949172973633, "right_arm_pose_y": -0.2412426769733429, "right_arm_pose_z": 1.468095302581787, "right_arm_pose_qx": -0.9932116866111755, "right_arm_pose_qy": -0.004760126583278179, "right_arm_pose_qz": 0.11618898063898087, "right_arm_pose_qw": 0.002835900755599141, "left_arm_pose_x": 0.3022470474243164, "left_arm_pose_y": 0.067914679646492, "left_arm_pose_z": 1.4693628549575806, "left_arm_pose_qx": -0.04274287074804306, "left_arm_pose_qy": 0.9919212460517883, "left_arm_pose_qz": 0.006144646555185318, "left_arm_pose_qw": 0.11927938461303711, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4457507287135197, "pregrasp_position_error": 0.4457507287135197, "pregrasp_orientation_error_deg": 83.45083123155904, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 272.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0003.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0003.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d90c25fd45197703ccb3d5e67fff22268bb80d4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0003.debug.json
@@ -0,0 +1 @@
+{"frame_index": 3, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.3018493950366974, 0.06756293028593063, 1.4684257507324219, -0.04191526025533676, 0.9919559955596924, 0.007530964910984039, 0.11920497566461563], "right_arm_pose": [0.24399994313716888, -0.24033315479755402, 1.4642219543457031, -0.9937477707862854, -0.01149499136954546, 0.11084666103124619, 0.006807268597185612], "left_arm_joint_positions": [-0.0026822052896022797, 0.16133549809455872, -0.0008604195900261402, -0.9009756445884705, 0.005741720553487539, 1.2342698574066162, 0.7873376607894897], "right_arm_joint_positions": [-0.002661939710378647, 0.17829540371894836, 0.006774935405701399, -0.8849901556968689, -0.014277571812272072, 1.2169127464294434, 0.7587968111038208], "pregrasp_goal_pose": [0.2639424416426531, 0.18484141294741946, 1.0409321662737268, 0.19329646779065832, 0.7366298326078202, 0.6258285836449127, 0.16837918263500462], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0003.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0003.json
new file mode 100644
index 0000000000000000000000000000000000000000..095a3b55abe6bba6c47263c06a9943a3f9a42ecc
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0003.json
@@ -0,0 +1 @@
+{"frame_index": 3, "time_norm": 0.008875739644970414, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24399994313716888, "right_arm_pose_y": -0.24033315479755402, "right_arm_pose_z": 1.4642219543457031, "right_arm_pose_qx": -0.9937477707862854, "right_arm_pose_qy": -0.01149499136954546, "right_arm_pose_qz": 0.11084666103124619, "right_arm_pose_qw": 0.006807268597185612, "left_arm_pose_x": 0.3018493950366974, "left_arm_pose_y": 0.06756293028593063, "left_arm_pose_z": 1.4684257507324219, "left_arm_pose_qx": -0.04191526025533676, "left_arm_pose_qy": 0.9919559955596924, "left_arm_pose_qz": 0.007530964910984039, "left_arm_pose_qw": 0.11920497566461563, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4449066692738409, "pregrasp_position_error": 0.4449066692738409, "pregrasp_orientation_error_deg": 83.27093010897, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 272.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0004.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0004.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb2c296f50202f52f1faf792fc336e88e97a2514
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0004.debug.json
@@ -0,0 +1 @@
+{"frame_index": 4, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.30117660760879517, 0.06703884154558182, 1.4670500755310059, -0.04063841328024864, 0.9919955730438232, 0.00962911732494831, 0.11916632205247879], "right_arm_pose": [0.2428964525461197, -0.23901094496250153, 1.4583923816680908, -0.9943904876708984, -0.021574275568127632, 0.10277867317199707, 0.012597326189279556], "left_arm_joint_positions": [-0.0050163231790065765, 0.14872077107429504, -0.0015740063972771168, -0.9248046278953552, 0.010725622996687889, 1.2454535961151123, 0.7890259027481079], "right_arm_joint_positions": [-0.0049722157418727875, 0.18100932240486145, 0.012646470218896866, -0.8951112627983093, -0.026591891422867775, 1.2131891250610352, 0.7359431982040405], "pregrasp_goal_pose": [0.2639422931076861, 0.18484112260977265, 1.0409306785494714, 0.19329660192147438, 0.7366256034198962, 0.6258335812827639, 0.16837895536757277], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0004.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0004.json
new file mode 100644
index 0000000000000000000000000000000000000000..c77cb9ef68a43bd86715a1a911afe3f3c69552ce
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0004.json
@@ -0,0 +1 @@
+{"frame_index": 4, "time_norm": 0.011834319526627219, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2428964525461197, "right_arm_pose_y": -0.23901094496250153, "right_arm_pose_z": 1.4583923816680908, "right_arm_pose_qx": -0.9943904876708984, "right_arm_pose_qy": -0.021574275568127632, "right_arm_pose_qz": 0.10277867317199707, "right_arm_pose_qw": 0.012597326189279556, "left_arm_pose_x": 0.30117660760879517, "left_arm_pose_y": 0.06703884154558182, "left_arm_pose_z": 1.4670500755310059, "left_arm_pose_qx": -0.04063841328024864, "left_arm_pose_qy": 0.9919955730438232, "left_arm_pose_qz": 0.00962911732494831, "left_arm_pose_qw": 0.11916632205247879, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4436682455215841, "pregrasp_position_error": 0.4436682455215841, "pregrasp_orientation_error_deg": 82.99832867960937, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 272.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0005.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0005.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f430c16b50f4aade26f255e3112c45d6f34d511d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0005.debug.json
@@ -0,0 +1 @@
+{"frame_index": 5, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.30019983649253845, 0.06632140278816223, 1.4650578498840332, -0.03885060176253319, 0.9920440912246704, 0.012526402249932289, 0.1190897673368454], "right_arm_pose": [0.24156582355499268, -0.23721744120121002, 1.4507100582122803, -0.9949464797973633, -0.035178832709789276, 0.09186828136444092, 0.020106062293052673], "left_arm_joint_positions": [-0.008121248334646225, 0.13167551159858704, -0.0025949147529900074, -0.9566425681114197, 0.017458802089095116, 1.260291576385498, 0.7912560701370239], "right_arm_joint_positions": [-0.008051153272390366, 0.18439391255378723, 0.02044418826699257, -0.9084400534629822, -0.04297744482755661, 1.2083210945129395, 0.7055031061172485], "pregrasp_goal_pose": [0.26394233925194155, 0.18484134942392821, 1.0409292131044108, 0.19329501459752613, 0.7366227170407096, 0.6258369614050825, 0.16838084157812672], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0005.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0005.json
new file mode 100644
index 0000000000000000000000000000000000000000..db6518c6a4b1f2bc8a047b01e991b493551a1a19
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0005.json
@@ -0,0 +1 @@
+{"frame_index": 5, "time_norm": 0.014792899408284023, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24156582355499268, "right_arm_pose_y": -0.23721744120121002, "right_arm_pose_z": 1.4507100582122803, "right_arm_pose_qx": -0.9949464797973633, "right_arm_pose_qy": -0.035178832709789276, "right_arm_pose_qz": 0.09186828136444092, "right_arm_pose_qw": 0.020106062293052673, "left_arm_pose_x": 0.30019983649253845, "left_arm_pose_y": 0.06632140278816223, "left_arm_pose_z": 1.4650578498840332, "left_arm_pose_qx": -0.03885060176253319, "left_arm_pose_qy": 0.9920440912246704, "left_arm_pose_qz": 0.012526402249932289, "left_arm_pose_qw": 0.1190897673368454, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4418672701086126, "pregrasp_position_error": 0.4418672701086126, "pregrasp_orientation_error_deg": 82.62077636180399, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 272.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0006.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0006.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1f48ad4228e5a35448749633902228a40061b48
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0006.debug.json
@@ -0,0 +1 @@
+{"frame_index": 6, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.29895755648612976, 0.06537505239248276, 1.4625931978225708, -0.036539431661367416, 0.9920821785926819, 0.016297532245516777, 0.11904764920473099], "right_arm_pose": [0.24016226828098297, -0.235136479139328, 1.4416292905807495, -0.9951525926589966, -0.05167316645383835, 0.07860781252384186, 0.028673134744167328], "left_arm_joint_positions": [-0.011852975934743881, 0.11187770962715149, -0.0042509702034294605, -0.9933752417564392, 0.026172524318099022, 1.2778778076171875, 0.7938541173934937], "right_arm_joint_positions": [-0.01167726144194603, 0.18850257992744446, 0.029620442539453506, -0.9238280653953552, -0.062228552997112274, 1.2024462223052979, 0.6692651510238647], "pregrasp_goal_pose": [0.26394220253413003, 0.1848414380247974, 1.0409305258633723, 0.19329688127346453, 0.7366247871574011, 0.6258345424958671, 0.16837863300981576], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0006.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0006.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e7f7988694f9dcc4ceed444ca46f4999bb1e700
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0006.json
@@ -0,0 +1 @@
+{"frame_index": 6, "time_norm": 0.01775147928994083, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24016226828098297, "right_arm_pose_y": -0.235136479139328, "right_arm_pose_z": 1.4416292905807495, "right_arm_pose_qx": -0.9951525926589966, "right_arm_pose_qy": -0.05167316645383835, "right_arm_pose_qz": 0.07860781252384186, "right_arm_pose_qw": 0.028673134744167328, "left_arm_pose_x": 0.29895755648612976, "left_arm_pose_y": 0.06537505239248276, "left_arm_pose_z": 1.4625931978225708, "left_arm_pose_qx": -0.036539431661367416, "left_arm_pose_qy": 0.9920821785926819, "left_arm_pose_qz": 0.016297532245516777, "left_arm_pose_qw": 0.11904764920473099, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4396563444694087, "pregrasp_position_error": 0.4396563444694087, "pregrasp_orientation_error_deg": 82.12840638151418, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 272.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0015.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0015.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e7b92f5efddde7267f851f24cc8cf2ea04869d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0015.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0015.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0015.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dd6ac24c87aa636b50cf6dcf293f567327f6707
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0015.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0016.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0016.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..33612ec6bfd363422d07241593cf0f8787a25436
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0016.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0016.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0016.json
new file mode 100644
index 0000000000000000000000000000000000000000..38b30b0329d6a624607556bff5c0318ff6876a14
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0016.json
@@ -0,0 +1 @@
+{"frame_index": 16, "time_norm": 0.047337278106508875, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2376156747341156, "right_arm_pose_y": -0.21275903284549713, "right_arm_pose_z": 1.351759433746338, "right_arm_pose_qx": -0.9629641175270081, "right_arm_pose_qy": -0.23925749957561493, "right_arm_pose_qz": -0.07917468249797821, "right_arm_pose_qw": 0.09585032612085342, "left_arm_pose_x": 0.27989983558654785, "left_arm_pose_y": 0.05120468512177467, "left_arm_pose_z": 1.4235992431640625, "left_arm_pose_qx": -0.0008355319150723517, "left_arm_pose_qy": 0.9903029203414917, "left_arm_pose_qz": 0.07397442311048508, "left_arm_pose_qw": 0.11758897453546524, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.40564585813318227, "pregrasp_position_error": 0.40564585813318227, "pregrasp_orientation_error_deg": 74.610570984203, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 4.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 61.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0017.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0017.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..081d2d33a9863e93d9f59605b0f5303964cb1a94
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0017.debug.json
@@ -0,0 +1 @@
+{"frame_index": 17, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.2774898409843445, 0.04935787245631218, 1.418500304222107, 0.0038059670478105545, 0.9897463917732239, 0.08143360167741776, 0.11728686094284058], "right_arm_pose": [0.2382277548313141, -0.21063216030597687, 1.3434767723083496, -0.9561513662338257, -0.25808244943618774, -0.09603450447320938, 0.09972618520259857], "left_arm_joint_positions": [-0.05380534753203392, -0.11226293444633484, -0.04381844028830528, -1.4245295524597168, 0.1600733995437622, 1.4823930263519287, 0.8162099123001099], "right_arm_joint_positions": [-0.05426287278532982, 0.2331731617450714, 0.1377563774585724, -1.1077542304992676, -0.2921344041824341, 1.128800868988037, 0.23072779178619385], "pregrasp_goal_pose": [0.2639424568448888, 0.18484082201713453, 1.0409306197410892, 0.19329476652290808, 0.7366275857722008, 0.6258312114501579, 0.16838119814605584], "pregrasp_position_error": 0.40137018807806035, "pregrasp_orientation_error_deg": 73.63990075994577}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 20, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 72, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0017.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0017.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca47a01a595ff58bc6651300a04435e20091fde
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0017.json
@@ -0,0 +1 @@
+{"frame_index": 17, "time_norm": 0.05029585798816568, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2382277548313141, "right_arm_pose_y": -0.21063216030597687, "right_arm_pose_z": 1.3434767723083496, "right_arm_pose_qx": -0.9561513662338257, "right_arm_pose_qy": -0.25808244943618774, "right_arm_pose_qz": -0.09603450447320938, "right_arm_pose_qw": 0.09972618520259857, "left_arm_pose_x": 0.2774898409843445, "left_arm_pose_y": 0.04935787245631218, "left_arm_pose_z": 1.418500304222107, "left_arm_pose_qx": 0.0038059670478105545, "left_arm_pose_qy": 0.9897463917732239, "left_arm_pose_qz": 0.08143360167741776, "left_arm_pose_qw": 0.11728686094284058, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.40137018807806035, "pregrasp_position_error": 0.40137018807806035, "pregrasp_orientation_error_deg": 73.63990075994577, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 20.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 72.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0018.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0018.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3265b1289d87fd7c1f3554373dd02145cc1734b7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0018.debug.json
@@ -0,0 +1 @@
+{"frame_index": 18, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.047481894493103, "tray_grasped_left": false, "left_arm_pose": [0.27487272024154663, 0.04743783921003342, 1.413314700126648, 0.008606343530118465, 0.989072322845459, 0.08918161690235138, 0.11708357185125351], "right_arm_pose": [0.23904860019683838, -0.2085152268409729, 1.335503101348877, -0.9487091302871704, -0.276731938123703, -0.11286528408527374, 0.10311047732830048], "left_arm_joint_positions": [-0.057296272367239, -0.13208433985710144, -0.049157824367284775, -1.4635608196258545, 0.17472517490386963, 1.5007097721099854, 0.816895604133606], "right_arm_joint_positions": [-0.05818914994597435, 0.23701336979866028, 0.14759567379951477, -1.1244125366210938, -0.31305086612701416, 1.1222035884857178, 0.19074928760528564], "pregrasp_goal_pose": [0.2639422958831142, 0.18484103242925354, 1.0409300853907766, 0.19329684255353483, 0.7366241803742283, 0.6258352552304298, 0.16837868290699146], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0018.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0018.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9db652f2fd4f59fd5d655438aa8e88b4f465de2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0018.json
@@ -0,0 +1 @@
+{"frame_index": 18, "time_norm": 0.05325443786982249, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23904860019683838, "right_arm_pose_y": -0.2085152268409729, "right_arm_pose_z": 1.335503101348877, "right_arm_pose_qx": -0.9487091302871704, "right_arm_pose_qy": -0.276731938123703, "right_arm_pose_qz": -0.11286528408527374, "right_arm_pose_qw": 0.10311047732830048, "left_arm_pose_x": 0.27487272024154663, "left_arm_pose_y": 0.04743783921003342, "left_arm_pose_z": 1.413314700126648, "left_arm_pose_qx": 0.008606343530118465, "left_arm_pose_qy": 0.989072322845459, "left_arm_pose_qz": 0.08918161690235138, "left_arm_pose_qw": 0.11708357185125351, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3970760795810761, "pregrasp_position_error": 0.3970760795810761, "pregrasp_orientation_error_deg": 72.63149788752148, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 39.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 78.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0019.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0019.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc1da8523e16b509ae5abd5151f22e6153bbd65e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0019.debug.json
@@ -0,0 +1 @@
+{"frame_index": 19, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.27226322889328003, 0.04546167701482773, 1.4078787565231323, 0.013585682027041912, 0.9882931709289551, 0.09720192849636078, 0.11680711060762405], "right_arm_pose": [0.23997560143470764, -0.2064344882965088, 1.3276869058609009, -0.9406121969223022, -0.29526352882385254, -0.1297605186700821, 0.10597343742847443], "left_arm_joint_positions": [-0.06075405701994896, -0.15162870287895203, -0.054697003215551376, -1.5022881031036377, 0.1897050142288208, 1.519073247909546, 0.8173202276229858], "right_arm_joint_positions": [-0.062036748975515366, 0.24119403958320618, 0.15746167302131653, -1.1413326263427734, -0.3340834379196167, 1.1154046058654785, 0.15076053142547607], "pregrasp_goal_pose": [0.26394210332127277, 0.18484116018823837, 1.0409333069186875, 0.19330039972995533, 0.7366285691157267, 0.6258300970545467, 0.16837457126137914], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0019.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0019.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71fff35c20b8e14e95cc5b082bd9de28c362040
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0019.json
@@ -0,0 +1 @@
+{"frame_index": 19, "time_norm": 0.05621301775147929, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23997560143470764, "right_arm_pose_y": -0.2064344882965088, "right_arm_pose_z": 1.3276869058609009, "right_arm_pose_qx": -0.9406121969223022, "right_arm_pose_qy": -0.29526352882385254, "right_arm_pose_qz": -0.1297605186700821, "right_arm_pose_qw": 0.10597343742847443, "left_arm_pose_x": 0.27226322889328003, "left_arm_pose_y": 0.04546167701482773, "left_arm_pose_z": 1.4078787565231323, "left_arm_pose_qx": 0.013585682027041912, "left_arm_pose_qy": 0.9882931709289551, "left_arm_pose_qz": 0.09720192849636078, "left_arm_pose_qw": 0.11680711060762405, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3926128429456688, "pregrasp_position_error": 0.3926128429456688, "pregrasp_orientation_error_deg": 71.58697360508687, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 57.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 94.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0020.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0020.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae2b765b15456622b3f33359414ff910443fcd6b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0020.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0020.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0020.json
new file mode 100644
index 0000000000000000000000000000000000000000..28382aec12e977d1ab23861419a8bdbd498d3e51
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0020.json
@@ -0,0 +1 @@
+{"frame_index": 20, "time_norm": 0.05917159763313609, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2409764528274536, "right_arm_pose_y": -0.2043541669845581, "right_arm_pose_z": 1.319948434829712, "right_arm_pose_qx": -0.9318512082099915, "right_arm_pose_qy": -0.31367072463035583, "right_arm_pose_qz": -0.14676864445209503, "right_arm_pose_qw": 0.10827305912971497, "left_arm_pose_x": 0.269498735666275, "left_arm_pose_y": 0.04340055584907532, "left_arm_pose_z": 1.4022616147994995, "left_arm_pose_qx": 0.018744073808193207, "left_arm_pose_qy": 0.9873899817466736, "left_arm_pose_qz": 0.10553034394979477, "left_arm_pose_qw": 0.11650370806455612, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.38806655309349164, "pregrasp_position_error": 0.38806655309349164, "pregrasp_orientation_error_deg": 70.50380855176522, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 72.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 101.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0021.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0021.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de7ceddc88cc160013703604cb293d0ea769d1c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0021.debug.json
@@ -0,0 +1 @@
+{"frame_index": 21, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.26665249466896057, 0.04132404923439026, 1.3964133262634277, 0.024046320468187332, 0.9863598942756653, 0.11409533768892288, 0.11618229746818542], "right_arm_pose": [0.24213728308677673, -0.20233339071273804, 1.312485933303833, -0.9224659204483032, -0.33184802532196045, -0.1637762486934662, 0.11004935950040817], "left_arm_joint_positions": [-0.06744718551635742, -0.19032832980155945, -0.06655403971672058, -1.5801451206207275, 0.22081172466278076, 1.5552518367767334, 0.8171464204788208], "right_arm_joint_positions": [-0.06984233856201172, 0.2494538128376007, 0.17716744542121887, -1.1749053001403809, -0.3760033845901489, 1.1019809246063232, 0.07068979740142822], "pregrasp_goal_pose": [0.2639427570572772, 0.18484066175616032, 1.0409302379565886, 0.19329324034195755, 0.7366280745664565, 0.6258306556391011, 0.16838287757653472], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0021.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0021.json
new file mode 100644
index 0000000000000000000000000000000000000000..247b07bd2b4c1991b17f8688d7c87525cc07fdec
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0021.json
@@ -0,0 +1 @@
+{"frame_index": 21, "time_norm": 0.0621301775147929, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24213728308677673, "right_arm_pose_y": -0.20233339071273804, "right_arm_pose_z": 1.312485933303833, "right_arm_pose_qx": -0.9224659204483032, "right_arm_pose_qy": -0.33184802532196045, "right_arm_pose_qz": -0.1637762486934662, "right_arm_pose_qw": 0.11004935950040817, "left_arm_pose_x": 0.26665249466896057, "left_arm_pose_y": 0.04132404923439026, "left_arm_pose_z": 1.3964133262634277, "left_arm_pose_qx": 0.024046320468187332, "left_arm_pose_qy": 0.9863598942756653, "left_arm_pose_qz": 0.11409533768892288, "left_arm_pose_qw": 0.11618229746818542, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.38337003902211253, "pregrasp_position_error": 0.38337003902211253, "pregrasp_orientation_error_deg": 69.38958196170779, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 83.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 117.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0030.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0030.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e0a3d2f7507f2b5efec7b53064319e34737fdd3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0030.debug.json
@@ -0,0 +1 @@
+{"frame_index": 30, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.23696352541446686, 0.01912236213684082, 1.3354926109313965, 0.07952949404716492, 0.9695358276367188, 0.2027750164270401, 0.11206141114234924], "right_arm_pose": [0.25592947006225586, -0.18539978563785553, 1.2532655000686646, -0.8102811574935913, -0.4834712743759155, -0.31480056047439575, 0.1029590517282486], "left_arm_joint_positions": [-0.09680461883544922, -0.35491248965263367, -0.13391825556755066, -1.9271562099456787, 0.3774813413619995, 1.7101993560791016, 0.7953046560287476], "right_arm_joint_positions": [-0.10485672950744629, 0.28609588742256165, 0.2659471333026886, -1.3254344463348389, -0.5647844076156616, 1.0414929389953613, -0.28952205181121826], "pregrasp_goal_pose": [0.26394231648250266, 0.18484074949085705, 1.0409303646230372, 0.19329747619897977, 0.7366235774940361, 0.6258359682862983, 0.16837794265919737], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0030.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0030.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de35cc247324fe1ddb9aa9fb0b14f83b5303fea
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0030.json
@@ -0,0 +1 @@
+{"frame_index": 30, "time_norm": 0.08875739644970414, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.25592947006225586, "right_arm_pose_y": -0.18539978563785553, "right_arm_pose_z": 1.2532655000686646, "right_arm_pose_qx": -0.8102811574935913, "right_arm_pose_qy": -0.4834712743759155, "right_arm_pose_qz": -0.31480056047439575, "right_arm_pose_qw": 0.1029590517282486, "left_arm_pose_x": 0.23696352541446686, "left_arm_pose_y": 0.01912236213684082, "left_arm_pose_z": 1.3354926109313965, "left_arm_pose_qx": 0.07952949404716492, "left_arm_pose_qy": 0.9695358276367188, "left_arm_pose_qz": 0.2027750164270401, "left_arm_pose_qw": 0.11206141114234924, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.33905361821537167, "pregrasp_position_error": 0.33905361821537167, "pregrasp_orientation_error_deg": 57.832289677350474, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 280.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0031.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0031.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44ef3b5248361fd160b985b3258c3c0323aa3a9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0031.debug.json
@@ -0,0 +1 @@
+{"frame_index": 31, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.2331790328025818, 0.01639886200428009, 1.327844262123108, 0.08643215894699097, 0.9666301012039185, 0.21383680403232574, 0.11148858070373535], "right_arm_pose": [0.2577005922794342, -0.18369948863983154, 1.2475734949111938, -0.7949340343475342, -0.4985469877719879, -0.331045538187027, 0.09969758987426758], "left_arm_joint_positions": [-0.10010766983032227, -0.3720190227031708, -0.14302608370780945, -1.9652788639068604, 0.3966132402420044, 1.7262446880340576, 0.7902456521987915], "right_arm_joint_positions": [-0.10873937606811523, 0.29024723172187805, 0.27584317326545715, -1.3422484397888184, -0.5857475996017456, 1.034691572189331, -0.3295336961746216], "pregrasp_goal_pose": [0.26394228712843204, 0.18484053105010187, 1.0409307043598806, 0.19329841994041086, 0.7366236237270771, 0.6258358938512997, 0.16837693364316497], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0031.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0031.json
new file mode 100644
index 0000000000000000000000000000000000000000..37dd863e67eaec770aa885b4dd8121226616d546
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0031.json
@@ -0,0 +1 @@
+{"frame_index": 31, "time_norm": 0.09171597633136094, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2577005922794342, "right_arm_pose_y": -0.18369948863983154, "right_arm_pose_z": 1.2475734949111938, "right_arm_pose_qx": -0.7949340343475342, "right_arm_pose_qy": -0.4985469877719879, "right_arm_pose_qz": -0.331045538187027, "right_arm_pose_qw": 0.09969758987426758, "left_arm_pose_x": 0.2331790328025818, "left_arm_pose_y": 0.01639886200428009, "left_arm_pose_z": 1.327844262123108, "left_arm_pose_qx": 0.08643215894699097, "left_arm_pose_qy": 0.9666301012039185, "left_arm_pose_qz": 0.21383680403232574, "left_arm_pose_qw": 0.11148858070373535, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3341232756274425, "pregrasp_position_error": 0.3341232756274425, "pregrasp_orientation_error_deg": 56.3890622375109, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0032.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0032.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec4480143614a0887d847b23ef4c2640ff201291
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0032.debug.json
@@ -0,0 +1 @@
+{"frame_index": 32, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.22933433949947357, 0.013523519039154053, 1.320015549659729, 0.09354370087385178, 0.9634624123573303, 0.22514960169792175, 0.11089422553777695], "right_arm_pose": [0.25951749086380005, -0.18205730617046356, 1.2421362400054932, -0.7790807485580444, -0.5132079124450684, -0.34702932834625244, 0.09602853655815125], "left_arm_joint_positions": [-0.1034092903137207, -0.3889462649822235, -0.1526302993297577, -2.0033552646636963, 0.41613686084747314, 1.7418906688690186, 0.7846060991287231], "right_arm_joint_positions": [-0.1126251220703125, 0.2943919003009796, 0.28565552830696106, -1.3590173721313477, -0.6067260503768921, 1.0280795097351074, -0.36956822872161865], "pregrasp_goal_pose": [0.26394237442521906, 0.18484045068377503, 1.0409285168856526, 0.19329327442273658, 0.7366224887506344, 0.6258372169433712, 0.16838288813989888], 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0032.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0032.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da927eb6334c8ef6e5c93bf46985c6c0e0c07da
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0032.json
@@ -0,0 +1 @@
+{"frame_index": 32, "time_norm": 0.09467455621301775, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.25951749086380005, "right_arm_pose_y": -0.18205730617046356, "right_arm_pose_z": 1.2421362400054932, "right_arm_pose_qx": -0.7790807485580444, "right_arm_pose_qy": -0.5132079124450684, "right_arm_pose_qz": -0.34702932834625244, "right_arm_pose_qw": 0.09602853655815125, "left_arm_pose_x": 0.22933433949947357, "left_arm_pose_y": 0.013523519039154053, "left_arm_pose_z": 1.320015549659729, "left_arm_pose_qx": 0.09354370087385178, "left_arm_pose_qy": 0.9634624123573303, "left_arm_pose_qz": 0.22514960169792175, "left_arm_pose_qw": 0.11089422553777695, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.32929740207324404, "pregrasp_position_error": 0.32929740207324404, "pregrasp_orientation_error_deg": 54.911026321386394, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0033.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0033.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..faa3be9d40a5ecd0db1efc855afe5a7614b14815
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0033.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0033.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0033.json
new file mode 100644
index 0000000000000000000000000000000000000000..de01f2089e1bb3338a52dc381e2895c7ea1b4c57
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0033.json
@@ -0,0 +1 @@
+{"frame_index": 33, "time_norm": 0.09763313609467456, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.261369913816452, "right_arm_pose_y": -0.18042516708374023, "right_arm_pose_z": 1.2368972301483154, "right_arm_pose_qx": 0.7627320289611816, "right_arm_pose_qy": 0.5273802876472473, "right_arm_pose_qz": 0.3628610372543335, "right_arm_pose_qw": -0.09187906980514526, "left_arm_pose_x": 0.22541065514087677, "left_arm_pose_y": 0.010555483400821686, "left_arm_pose_z": 1.3118818998336792, "left_arm_pose_qx": 0.10083149373531342, "left_arm_pose_qy": 0.9600436687469482, "left_arm_pose_qz": 0.23667599260807037, "left_arm_pose_qw": 0.11015327274799347, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3244597685842835, "pregrasp_position_error": 0.3244597685842835, "pregrasp_orientation_error_deg": 53.40507149819686, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0034.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0034.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aa5347c6c589eceb54205afa432481d09cf7250
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0034.debug.json
@@ -0,0 +1 @@
+{"frame_index": 34, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.22137171030044556, 0.007553022354841232, 1.3036432266235352, 0.10823339968919754, 0.9563392400741577, 0.2484254688024521, 0.10947848856449127], "right_arm_pose": [0.26318496465682983, -0.17889297008514404, 1.2317107915878296, 0.7458496689796448, 0.5411261320114136, 0.3785201907157898, -0.08725405484437943], "left_arm_joint_positions": [-0.11024641990661621, -0.4214477241039276, -0.17313167452812195, -2.079172372817993, 0.4561854600906372, 1.7720966339111328, 0.7712513208389282], "right_arm_joint_positions": [-0.1203925609588623, 0.302564412355423, 0.30538418889045715, -1.3926029205322266, -0.6486140489578247, 1.0145041942596436, -0.44959867000579834], "pregrasp_goal_pose": [0.26394219493876997, 0.1848404002528336, 1.040931478650232, 0.1932965460677843, 0.7366274796933412, 0.6258313760972106, 0.16837900739454692], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0034.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0034.json
new file mode 100644
index 0000000000000000000000000000000000000000..4128d332b29a5fabaf36073160566f3381cf362a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0034.json
@@ -0,0 +1 @@
+{"frame_index": 34, "time_norm": 0.10059171597633136, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.26318496465682983, "right_arm_pose_y": -0.17889297008514404, "right_arm_pose_z": 1.2317107915878296, "right_arm_pose_qx": 0.7458496689796448, "right_arm_pose_qy": 0.5411261320114136, "right_arm_pose_qz": 0.3785201907157898, "right_arm_pose_qw": -0.08725405484437943, "left_arm_pose_x": 0.22137171030044556, "left_arm_pose_y": 0.007553022354841232, "left_arm_pose_z": 1.3036432266235352, "left_arm_pose_qx": 0.10823339968919754, "left_arm_pose_qy": 0.9563392400741577, "left_arm_pose_qz": 0.2484254688024521, "left_arm_pose_qw": 0.10947848856449127, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3197819930006625, "pregrasp_position_error": 0.3197819930006625, "pregrasp_orientation_error_deg": 51.86935260814227, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0035.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0035.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8891cf64e3a8ff667845860f560e28fddd7e02f2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0035.debug.json
@@ -0,0 +1 @@
+{"frame_index": 35, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.2172168493270874, 0.004498157650232315, 1.2951836585998535, 0.11581866443157196, 0.9523332715034485, 0.2604356110095978, 0.10872306674718857], "right_arm_pose": [0.26496225595474243, -0.17738893628120422, 1.226686716079712, 0.7284780740737915, 0.5543972849845886, 0.3939664363861084, -0.08218210935592651], "left_arm_joint_positions": [-0.11372566223144531, -0.4369527995586395, -0.18409797549247742, -2.117091178894043, 0.4767357110977173, 1.7865266799926758, 0.7635596990585327], "right_arm_joint_positions": [-0.12428069114685059, 0.3068895637989044, 0.31528785824775696, -1.409226894378662, -0.6696130037307739, 1.0077977180480957, -0.48970353603363037], "pregrasp_goal_pose": [0.26394254628894304, 0.1848399129806384, 1.0409306478964429, 0.1932951023176978, 0.7366272383663452, 0.6258316518557057, 0.16838069560469537], "pregrasp_position_error": 0.3151999887753359, "pregrasp_orientation_error_deg": 50.30020599181616}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "front", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0035.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0035.json
new file mode 100644
index 0000000000000000000000000000000000000000..a64d8c4b3353c265e3b2652a0cdc684e7493fe96
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0035.json
@@ -0,0 +1 @@
+{"frame_index": 35, "time_norm": 0.10355029585798817, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.26496225595474243, "right_arm_pose_y": -0.17738893628120422, "right_arm_pose_z": 1.226686716079712, "right_arm_pose_qx": 0.7284780740737915, "right_arm_pose_qy": 0.5543972849845886, "right_arm_pose_qz": 0.3939664363861084, "right_arm_pose_qw": -0.08218210935592651, "left_arm_pose_x": 0.2172168493270874, "left_arm_pose_y": 0.004498157650232315, "left_arm_pose_z": 1.2951836585998535, "left_arm_pose_qx": 0.11581866443157196, "left_arm_pose_qy": 0.9523332715034485, "left_arm_pose_qz": 0.2604356110095978, "left_arm_pose_qw": 0.10872306674718857, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3151999887753359, "pregrasp_position_error": 0.3151999887753359, "pregrasp_orientation_error_deg": 50.30020599181616, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0036.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0036.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc4ad61c8b725d0b02e3f82c550581b92f6d9187
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0036.debug.json
@@ -0,0 +1 @@
+{"frame_index": 36, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.21300815045833588, 0.0013720206916332245, 1.286443829536438, 0.1235349178314209, 0.9480459094047546, 0.2726103663444519, 0.10785015672445297], "right_arm_pose": [0.2667575478553772, -0.1759100705385208, 1.2218408584594727, 0.7106702327728271, 0.5671229958534241, 0.4091866910457611, -0.07671787589788437], "left_arm_joint_positions": [-0.11733651161193848, -0.4524070918560028, -0.19565007090568542, -2.1546449661254883, 0.4975491762161255, 1.8004190921783447, 0.7551227807998657], "right_arm_joint_positions": [-0.12816929817199707, 0.3110187351703644, 0.3251231014728546, -1.4261150360107422, -0.6905690431594849, 1.0010628700256348, -0.5297027826309204], "pregrasp_goal_pose": [0.26394221165133586, 0.18484075105065345, 1.0409326437390203, 0.19329945253305011, 0.7366275771919963, 0.6258312260246827, 0.16837580201179525], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0036.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0036.json
new file mode 100644
index 0000000000000000000000000000000000000000..15da54e23fce95869888a2d7f2ecc53773f49472
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0036.json
@@ -0,0 +1 @@
+{"frame_index": 36, "time_norm": 0.10650887573964497, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2667575478553772, "right_arm_pose_y": -0.1759100705385208, "right_arm_pose_z": 1.2218408584594727, "right_arm_pose_qx": 0.7106702327728271, "right_arm_pose_qy": 0.5671229958534241, "right_arm_pose_qz": 0.4091866910457611, "right_arm_pose_qw": -0.07671787589788437, "left_arm_pose_x": 0.21300815045833588, "left_arm_pose_y": 0.0013720206916332245, "left_arm_pose_z": 1.286443829536438, "left_arm_pose_qx": 0.1235349178314209, "left_arm_pose_qy": 0.9480459094047546, "left_arm_pose_qz": 0.2726103663444519, "left_arm_pose_qw": 0.10785015672445297, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.31069405523893967, "pregrasp_position_error": 0.31069405523893967, "pregrasp_orientation_error_deg": 48.71122186212537, "p_pre": 0.0, "p_ext": 0.0007335344950358067, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474817752838135, "p_ext_final_height": 1.0474817752838135, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0037.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0037.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbf589f99dbd08f4e170125b1b27c822351ef8c5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0037.debug.json
@@ -0,0 +1 @@
+{"frame_index": 37, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.2086711823940277, -0.0018177628517150879, 1.2775918245315552, 0.13137511909008026, 0.943425714969635, 0.2850296199321747, 0.10698939859867096], "right_arm_pose": [0.2685772180557251, -0.17451348900794983, 1.217294692993164, 0.6924699544906616, 0.5793383121490479, 0.42406025528907776, -0.07089102268218994], "left_arm_joint_positions": [-0.1209557056427002, -0.46693798899650574, -0.2078070342540741, -2.1920907497406006, 0.5187054872512817, 1.8139023780822754, 0.7458733320236206], "right_arm_joint_positions": [-0.13207030296325684, 0.31502607464790344, 0.3349299728870392, -1.442643404006958, -0.7115908861160278, 0.9943628311157227, -0.5696707963943481], "pregrasp_goal_pose": [0.26394224852801024, 0.18483990374785375, 1.040931525066534, 0.19329915417977284, 0.7366246061242478, 0.6258347718118182, 0.16837596335858204], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0037.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0037.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6fe2bc0f549de61e07dd565d9657a05dc486c8b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0037.json
@@ -0,0 +1 @@
+{"frame_index": 37, "time_norm": 0.10946745562130178, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2685772180557251, "right_arm_pose_y": -0.17451348900794983, "right_arm_pose_z": 1.217294692993164, "right_arm_pose_qx": 0.6924699544906616, "right_arm_pose_qy": 0.5793383121490479, "right_arm_pose_qz": 0.42406025528907776, "right_arm_pose_qw": -0.07089102268218994, "left_arm_pose_x": 0.2086711823940277, "left_arm_pose_y": -0.0018177628517150879, "left_arm_pose_z": 1.2775918245315552, "left_arm_pose_qx": 0.13137511909008026, "left_arm_pose_qy": 0.943425714969635, "left_arm_pose_qz": 0.2850296199321747, "left_arm_pose_qw": 0.10698939859867096, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.3064377140543512, "pregrasp_position_error": 0.3064377140543512, "pregrasp_orientation_error_deg": 47.09157288852276, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 296.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0045.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0045.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..63bc8342f60e991723765d9523ad253cb87e93d4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0045.debug.json
@@ -0,0 +1 @@
+{"frame_index": 45, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.1714930683374405, -0.02913857251405716, 1.2016124725341797, 0.1974727064371109, 0.8942898511886597, 0.3892533481121063, 0.0986517071723938], "right_arm_pose": [0.28198331594467163, -0.165544331073761, 1.185722827911377, 0.5331931710243225, 0.656747043132782, 0.5331708788871765, -0.010824598371982574], "left_arm_joint_positions": [-0.15379762649536133, -0.5556454658508301, -0.3299519717693329, -2.4717166423797607, 0.6922532320022583, 1.8933324813842773, 0.6423486471176147], "right_arm_joint_positions": [-0.16321659088134766, 0.34778717160224915, 0.4138624966144562, -1.576852560043335, -0.879365086555481, 0.9404504299163818, -0.8902167081832886], "pregrasp_goal_pose": [0.2639422836022102, 0.18484027752404575, 1.0409307376829753, 0.1932976858785936, 0.7366233842074497, 0.6258361969429911, 0.16837769765820537], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0045.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0045.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffc7a91e9251ab9a6eec5f061d4dee2bd3ec1b22
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0045.json
@@ -0,0 +1 @@
+{"frame_index": 45, "time_norm": 0.13313609467455623, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.28198331594467163, "right_arm_pose_y": -0.165544331073761, "right_arm_pose_z": 1.185722827911377, "right_arm_pose_qx": 0.5331931710243225, "right_arm_pose_qy": 0.656747043132782, "right_arm_pose_qz": 0.5331708788871765, "right_arm_pose_qw": -0.010824598371982574, "left_arm_pose_x": 0.1714930683374405, "left_arm_pose_y": -0.02913857251405716, "left_arm_pose_z": 1.2016124725341797, "left_arm_pose_qx": 0.1974727064371109, "left_arm_pose_qy": 0.8942898511886597, "left_arm_pose_qz": 0.3892533481121063, "left_arm_pose_qw": 0.0986517071723938, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2831120371540098, "pregrasp_position_error": 0.2831120371540098, "pregrasp_orientation_error_deg": 33.66897457301779, "p_pre": 0.0, "p_ext": 0.0007335344950358067, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474817752838135, "p_ext_final_height": 1.0474817752838135, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0046.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0046.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7292873213000016eb8ee1ba40f9d325d02cc7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0046.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0046.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0046.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f51251e650bb206ff60f146deb84bd8e551c3af
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0046.json
@@ -0,0 +1 @@
+{"frame_index": 46, "time_norm": 0.13609467455621302, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2834874093532562, "right_arm_pose_y": -0.16474848985671997, "right_arm_pose_z": 1.1824719905853271, "right_arm_pose_qx": 0.5120081305503845, "right_arm_pose_qy": 0.6636748909950256, "right_arm_pose_qz": 0.5453252196311951, "right_arm_pose_qw": -0.0019594698678702116, "left_arm_pose_x": 0.16826912760734558, "left_arm_pose_y": -0.03139806538820267, "left_arm_pose_z": 1.1950111389160156, "left_arm_pose_qx": 0.2033323049545288, "left_arm_pose_qy": 0.8888901472091675, "left_arm_pose_qz": 0.3986632525920868, "left_arm_pose_qw": 0.09796877205371857, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2822288173524257, "pregrasp_position_error": 0.2822288173524257, "pregrasp_orientation_error_deg": 32.48987228469071, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0047.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0047.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f99104fd40119db0d36875e6e219eff856c20744
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0047.debug.json
@@ -0,0 +1 @@
+{"frame_index": 47, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.16598598659038544, -0.032940324395895004, 1.1904017925262451, 0.20742124319076538, 0.8849888443946838, 0.40529221296310425, 0.09751605242490768], "right_arm_pose": [0.28489813208580017, -0.16403654217720032, 1.1792646646499634, 0.49053090810775757, 0.6699849367141724, 0.5571781396865845, 0.00722878472879529], "left_arm_joint_positions": [-0.1589951515197754, -0.5627117156982422, -0.35130593180656433, -2.507479667663574, 0.7180095911026001, 1.8996739387512207, 0.6233648061752319], "right_arm_joint_positions": [-0.1709592342376709, 0.3557591736316681, 0.43357232213020325, -1.6102380752563477, -0.9213982820510864, 0.926985502243042, -0.9702321290969849], "pregrasp_goal_pose": [0.2639425951183579, 0.18484010593036893, 1.0409296754410902, 0.19329446472979972, 0.736624170075714, 0.6258351932462972, 0.16838168801700396], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0047.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0047.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa73de30ea7c81ce9d5c5ecb27db8ac8057d27c1
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0047.json
@@ -0,0 +1 @@
+{"frame_index": 47, "time_norm": 0.1390532544378698, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.28489813208580017, "right_arm_pose_y": -0.16403654217720032, "right_arm_pose_z": 1.1792646646499634, "right_arm_pose_qx": 0.49053090810775757, "right_arm_pose_qy": 0.6699849367141724, "right_arm_pose_qz": 0.5571781396865845, "right_arm_pose_qw": 0.00722878472879529, "left_arm_pose_x": 0.16598598659038544, "left_arm_pose_y": -0.032940324395895004, "left_arm_pose_z": 1.1904017925262451, "left_arm_pose_qx": 0.20742124319076538, "left_arm_pose_qy": 0.8849888443946838, "left_arm_pose_qz": 0.40529221296310425, "left_arm_pose_qw": 0.09751605242490768, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28171923394279175, "pregrasp_position_error": 0.28171923394279175, "pregrasp_orientation_error_deg": 31.66491028729569, "p_pre": 0.0, "p_ext": 0.0007315476735432937, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474811792373657, "p_ext_final_height": 1.0474811792373657, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0048.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0048.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aed4e8f98bef5dff0747c85b78779e9fc6de207
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0048.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0048.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0048.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd8bc5e065e9655bb618247a330a065c63c14f1e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0048.json
@@ -0,0 +1 @@
+{"frame_index": 48, "time_norm": 0.14201183431952663, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.28629207611083984, "right_arm_pose_y": -0.1633930206298828, "right_arm_pose_z": 1.1762293577194214, "right_arm_pose_qx": 0.4688980281352997, "right_arm_pose_qy": 0.6756657361984253, "right_arm_pose_qz": 0.5686234831809998, "right_arm_pose_qw": 0.016669105738401413, "left_arm_pose_x": 0.16474434733390808, "left_arm_pose_y": -0.033775415271520615, "left_arm_pose_z": 1.1879212856292725, "left_arm_pose_qx": 0.2097170501947403, "left_arm_pose_qy": 0.8827674984931946, "left_arm_pose_qz": 0.40898382663726807, "left_arm_pose_qw": 0.0973271057009697, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28149543599412635, "pregrasp_position_error": 0.28149543599412635, "pregrasp_orientation_error_deg": 31.205803164362734, "p_pre": 0.0, "p_ext": 0.0007335344950358067, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474817752838135, "p_ext_final_height": 1.0474817752838135, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0049.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0049.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4b3a8494f687cefa8c3ac596ff5c549e4a55149
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0049.debug.json
@@ -0,0 +1 @@
+{"frame_index": 49, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.16467495262622833, -0.03374369814991951, 1.1874920129776, 0.20995362102985382, 0.8826706409454346, 0.40915292501449585, 0.09698396176099777], "right_arm_pose": [0.2863752543926239, -0.16334237158298492, 1.1757005453109741, 0.46532902121543884, 0.6773352026939392, 0.5694885849952698, 0.01920321397483349], "left_arm_joint_positions": [-0.1601872444152832, -0.563826322555542, -0.35620972514152527, -2.5154690742492676, 0.7236994504928589, 1.9009549617767334, 0.6191388368606567], "right_arm_joint_positions": [-0.17484402656555176, 0.36040380597114563, 0.4434204399585724, -1.6273674964904785, -0.9424310922622681, 0.9201540946960449, -1.0152398347854614], "pregrasp_goal_pose": [0.2639422605457794, 0.18483985170038492, 1.0409319208996703, 0.19329791074999558, 0.7366269396531809, 0.6258320206530498, 0.16837740763593034], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0049.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0049.json
new file mode 100644
index 0000000000000000000000000000000000000000..754d4785fec76065de78b75f169e3c8d7c0b7d91
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0049.json
@@ -0,0 +1 @@
+{"frame_index": 49, "time_norm": 0.14497041420118342, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2863752543926239, "right_arm_pose_y": -0.16334237158298492, "right_arm_pose_z": 1.1757005453109741, "right_arm_pose_qx": 0.46532902121543884, "right_arm_pose_qy": 0.6773352026939392, "right_arm_pose_qz": 0.5694885849952698, "right_arm_pose_qw": 0.01920321397483349, "left_arm_pose_x": 0.16467495262622833, "left_arm_pose_y": -0.03374369814991951, "left_arm_pose_z": 1.1874920129776, "left_arm_pose_qx": 0.20995362102985382, "left_arm_pose_qy": 0.8826706409454346, "left_arm_pose_qz": 0.40915292501449585, "left_arm_pose_qw": 0.09698396176099777, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2812696700261988, "pregrasp_position_error": 0.2812696700261988, "pregrasp_orientation_error_deg": 31.19534730616662, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0050.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0050.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec60d668689125b1f4081374bc09208e29e2e842
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0050.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0050.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0050.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d1aba4c6775f0526d05e884c0bca314618cf41d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0050.json
@@ -0,0 +1 @@
+{"frame_index": 50, "time_norm": 0.14792899408284024, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.28637146949768066, "right_arm_pose_y": -0.1632862389087677, "right_arm_pose_z": 1.1757900714874268, "right_arm_pose_qx": 0.4665530025959015, "right_arm_pose_qy": 0.6765434145927429, "right_arm_pose_qz": 0.5694591403007507, "right_arm_pose_qw": 0.01826927252113819, "left_arm_pose_x": 0.16466324031352997, "left_arm_pose_y": -0.033700671046972275, "left_arm_pose_z": 1.187335729598999, "left_arm_pose_qx": 0.2099863737821579, "left_arm_pose_qy": 0.8826842904090881, "left_arm_pose_qz": 0.4091499149799347, "left_arm_pose_qw": 0.0968012809753418, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2811597994740964, "pregrasp_position_error": 0.2811597994740964, "pregrasp_orientation_error_deg": 31.202217586673278, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 296.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0051.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0051.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..191dc62f46df1ec87016e847729188f524e69c0f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0051.debug.json
@@ -0,0 +1 @@
+{"frame_index": 51, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16428031027317047, -0.03404003009200096, 1.1869308948516846, 0.21054819226264954, 0.8819797039031982, 0.41029682755470276, 0.0971485897898674], "right_arm_pose": [0.2875385284423828, -0.16297923028469086, 1.1731528043746948, 0.4527965188026428, 0.6776148080825806, 0.5790757536888123, 0.02201940305531025], "left_arm_joint_positions": [-0.16059350967407227, -0.5646777153015137, -0.35785648226737976, -2.5179476737976074, 0.7257343530654907, 1.9014480113983154, 0.6175349950790405], "right_arm_joint_positions": [-0.1787736415863037, 0.3638773262500763, 0.4532196819782257, -1.643768310546875, -0.9614547491073608, 0.9144644737243652, -1.0356673002243042], "pregrasp_goal_pose": [0.2639421552637117, 0.18484006752601945, 1.0409308911893105, 0.19329772113793234, 0.7366249918522432, 0.625834308094426, 0.1683776445777046], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0051.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0051.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcbebd204d76ebd0219c765dee6674f6b3337075
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0051.json
@@ -0,0 +1 @@
+{"frame_index": 51, "time_norm": 0.15088757396449703, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2875385284423828, "right_arm_pose_y": -0.16297923028469086, "right_arm_pose_z": 1.1731528043746948, "right_arm_pose_qx": 0.4527965188026428, "right_arm_pose_qy": 0.6776148080825806, "right_arm_pose_qz": 0.5790757536888123, "right_arm_pose_qw": 0.02201940305531025, "left_arm_pose_x": 0.16428031027317047, "left_arm_pose_y": -0.03404003009200096, "left_arm_pose_z": 1.1869308948516846, "left_arm_pose_qx": 0.21054819226264954, "left_arm_pose_qy": 0.8819797039031982, "left_arm_pose_qz": 0.41029682755470276, "left_arm_pose_qw": 0.0971485897898674, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813485055044829, "pregrasp_position_error": 0.2813485055044829, "pregrasp_orientation_error_deg": 31.0463747691514, "p_pre": 0.0, "p_ext": 0.0007315476735432937, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474811792373657, "p_ext_final_height": 1.0474811792373657, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 290.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0052.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0052.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..79a82d8ef4c7c0abe0cc773d9f32d8dfe904aa5f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0052.debug.json
@@ -0,0 +1 @@
+{"frame_index": 52, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.1641203612089157, -0.03414466232061386, 1.1866650581359863, 0.21080482006072998, 0.8816807866096497, 0.410793662071228, 0.09720540791749954], "right_arm_pose": [0.28885266184806824, -0.16244365274906158, 1.1702966690063477, 0.4267675280570984, 0.6842371821403503, 0.5903089642524719, 0.03498990088701248], "left_arm_joint_positions": [-0.16071343421936035, -0.5648398399353027, -0.3584279716014862, -2.518852710723877, 0.7265137434005737, 1.9016199111938477, 0.6169983148574829], "right_arm_joint_positions": [-0.18266868591308594, 0.3680901825428009, 0.4631223976612091, -1.6606240272521973, -0.9836806058883667, 0.907062292098999, -1.0861769914627075], "pregrasp_goal_pose": [0.2639423424213412, 0.1848403011295559, 1.0409288179593783, 0.19329446383388593, 0.7366221255242688, 0.6258376254587875, 0.16838159341028178], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0052.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0052.json
new file mode 100644
index 0000000000000000000000000000000000000000..94100aa3a519e79bcf01848debacb2745edba89b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0052.json
@@ -0,0 +1 @@
+{"frame_index": 52, "time_norm": 0.15384615384615385, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.28885266184806824, "right_arm_pose_y": -0.16244365274906158, "right_arm_pose_z": 1.1702966690063477, "right_arm_pose_qx": 0.4267675280570984, "right_arm_pose_qy": 0.6842371821403503, "right_arm_pose_qz": 0.5903089642524719, "right_arm_pose_qw": 0.03498990088701248, "left_arm_pose_x": 0.1641203612089157, "left_arm_pose_y": -0.03414466232061386, "left_arm_pose_z": 1.1866650581359863, "left_arm_pose_qx": 0.21080482006072998, "left_arm_pose_qy": 0.8816807866096497, "left_arm_pose_qz": 0.410793662071228, "left_arm_pose_qw": 0.09720540791749954, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28135012680157084, "pregrasp_position_error": 0.28135012680157084, "pregrasp_orientation_error_deg": 30.982733898980445, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0053.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0053.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f71ae6007e56188365f8a4e7357f13d713f64ae6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0053.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0053.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0053.json
new file mode 100644
index 0000000000000000000000000000000000000000..03b15d18039d339a9094c7d4000cc5f5ce80ad2b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0053.json
@@ -0,0 +1 @@
+{"frame_index": 53, "time_norm": 0.15680473372781065, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2900327444076538, "right_arm_pose_y": -0.1620265543460846, "right_arm_pose_z": 1.1676816940307617, "right_arm_pose_qx": 0.4034745395183563, "right_arm_pose_qy": 0.6885836720466614, "right_arm_pose_qz": 0.6007869243621826, "right_arm_pose_qw": 0.04599970579147339, "left_arm_pose_x": 0.1640809327363968, "left_arm_pose_y": -0.03415841981768608, "left_arm_pose_z": 1.1865633726119995, "left_arm_pose_qx": 0.21089594066143036, "left_arm_pose_qy": 0.8815731406211853, "left_arm_pose_qz": 0.41097378730773926, "left_arm_pose_qw": 0.09722243249416351, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813217592215287, "pregrasp_position_error": 0.2813217592215287, "pregrasp_orientation_error_deg": 30.959543780588106, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0060.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0060.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..364e594becb9f00a5ab0aeb6626840220bc6ab27
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0060.debug.json
@@ -0,0 +1 @@
+{"frame_index": 60, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16407206654548645, -0.03419285640120506, 1.1865278482437134, 0.21093808114528656, 0.8815308809280396, 0.41104280948638916, 0.09722268581390381], "right_arm_pose": [0.2966201603412628, -0.16203902661800385, 1.151262640953064, 0.2469785213470459, 0.6963687539100647, 0.6627880930900574, 0.12159036844968796], "left_arm_joint_positions": [-0.16077589988708496, -0.564828634262085, -0.3587298095226288, -2.519364833831787, 0.7269090414047241, 1.901714563369751, 0.6167064905166626], "right_arm_joint_positions": [-0.2137455940246582, 0.40070250630378723, 0.5420041084289551, -1.7944207191467285, -1.1522272825241089, 0.8528177738189697, -1.4111024141311646], "pregrasp_goal_pose": [0.2639423563105631, 0.1848398977348953, 1.0409290682740877, 0.19329392742787987, 0.7366235101552352, 0.6258360214919293, 0.1683821133886823], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0060.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0060.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ef472b4965a98cad8420245c34dab6830ff8bff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0060.json
@@ -0,0 +1 @@
+{"frame_index": 60, "time_norm": 0.17751479289940827, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2966201603412628, "right_arm_pose_y": -0.16203902661800385, "right_arm_pose_z": 1.151262640953064, "right_arm_pose_qx": 0.2469785213470459, "right_arm_pose_qy": 0.6963687539100647, "right_arm_pose_qz": 0.6627880930900574, "right_arm_pose_qw": 0.12159036844968796, "left_arm_pose_x": 0.16407206654548645, "left_arm_pose_y": -0.03419285640120506, "left_arm_pose_z": 1.1865278482437134, "left_arm_pose_qx": 0.21093808114528656, "left_arm_pose_qy": 0.8815308809280396, "left_arm_pose_qz": 0.41104280948638916, "left_arm_pose_qw": 0.09722268581390381, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28133330213618374, "pregrasp_position_error": 0.28133330213618374, "pregrasp_orientation_error_deg": 30.950683369769454, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0061.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0061.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf005200e088cc79a97ae97fc1cb26f8e4faf32
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0061.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0061.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0061.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3fc68b62207871a4b39bbd097c142d510bf582
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0061.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0062.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0062.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..92183af13d0f259cdfadbce1e0fd94608a5428da
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0062.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0062.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0062.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d802ece78c4a69488f343fdfab42c74f51dba58
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0062.json
@@ -0,0 +1 @@
+{"frame_index": 62, "time_norm": 0.1834319526627219, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.29784026741981506, "right_arm_pose_y": -0.16288316249847412, "right_arm_pose_z": 1.1475229263305664, "right_arm_pose_qx": 0.20487505197525024, "right_arm_pose_qy": 0.6930359601974487, "right_arm_pose_qz": 0.6762081384658813, "right_arm_pose_qw": 0.14307329058647156, "left_arm_pose_x": 0.16407741606235504, "left_arm_pose_y": -0.03420194983482361, "left_arm_pose_z": 1.1865997314453125, "left_arm_pose_qx": 0.21092449128627777, "left_arm_pose_qy": 0.8815233707427979, "left_arm_pose_qz": 0.41105103492736816, "left_arm_pose_qw": 0.09728512167930603, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28137621264454576, "pregrasp_position_error": 0.28137621264454576, "pregrasp_orientation_error_deg": 30.947654409822736, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0063.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0063.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8feb90c697c2693d00540f81864a8c1e04943fb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0063.debug.json
@@ -0,0 +1 @@
+{"frame_index": 63, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16406969726085663, -0.0341925248503685, 1.1865870952606201, 0.21091432869434357, 0.8815250396728516, 0.41105297207832336, 0.09728456288576126], "right_arm_pose": [0.29823189973831177, -0.16329768300056458, 1.1461948156356812, 0.18847253918647766, 0.6911933422088623, 0.6809768676757812, 0.1516590565443039], "left_arm_joint_positions": [-0.16079044342041016, -0.5648486614227295, -0.35872170329093933, -2.5193347930908203, 0.7269212007522583, 1.9017136096954346, 0.6167114973068237], "right_arm_joint_positions": [-0.22377562522888184, 0.41128137707710266, 0.5674424171447754, -1.837855577468872, -1.2070006132125854, 0.8352813720703125, -1.5173691511154175], "pregrasp_goal_pose": [0.2639423602218294, 0.184839451694352, 1.0409286263453064, 0.19328975680284402, 0.7366269192727521, 0.625831984996952, 0.16838698961798215], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0063.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0063.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41ee1dd82e2b09fda312e7352ba44b6e791c35e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0063.json
@@ -0,0 +1 @@
+{"frame_index": 63, "time_norm": 0.1863905325443787, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.29823189973831177, "right_arm_pose_y": -0.16329768300056458, "right_arm_pose_z": 1.1461948156356812, "right_arm_pose_qx": 0.18847253918647766, "right_arm_pose_qy": 0.6911933422088623, "right_arm_pose_qz": 0.6809768676757812, "right_arm_pose_qw": 0.1516590565443039, "left_arm_pose_x": 0.16406969726085663, "left_arm_pose_y": -0.0341925248503685, "left_arm_pose_z": 1.1865870952606201, "left_arm_pose_qx": 0.21091432869434357, "left_arm_pose_qy": 0.8815250396728516, "left_arm_pose_qz": 0.41105297207832336, "left_arm_pose_qw": 0.09728456288576126, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813644347154709, "pregrasp_position_error": 0.2813644347154709, "pregrasp_orientation_error_deg": 30.946907582109525, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0064.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0064.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5993d025f18179e498f048fd49d27c339bd5683d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0064.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0064.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0064.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9d52889437274f3bb6684bf948ee05b8c5060a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0064.json
@@ -0,0 +1 @@
+{"frame_index": 64, "time_norm": 0.1893491124260355, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2984861433506012, "right_arm_pose_y": -0.1636275351047516, "right_arm_pose_z": 1.145222783088684, "right_arm_pose_qx": 0.17631545662879944, "right_arm_pose_qy": 0.689601480960846, "right_arm_pose_qz": 0.6843767166137695, "right_arm_pose_qw": 0.15808607637882233, "left_arm_pose_x": 0.16405241191387177, "left_arm_pose_y": -0.03418617695569992, "left_arm_pose_z": 1.186518907546997, "left_arm_pose_qx": 0.21093808114528656, "left_arm_pose_qy": 0.8815205097198486, "left_arm_pose_qz": 0.4110605716705322, "left_arm_pose_qw": 0.09724188596010208, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28132991490670756, "pregrasp_position_error": 0.28132991490670756, "pregrasp_orientation_error_deg": 30.947337256573647, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0065.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0065.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..121d643c8417843fb665e5cf8dc3a82a4aeb568c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0065.debug.json
@@ -0,0 +1 @@
+{"frame_index": 65, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.1640596091747284, -0.03418302163481712, 1.1865466833114624, 0.2109234631061554, 0.8815243244171143, 0.4110560715198517, 0.09725797921419144], "right_arm_pose": [0.2986622452735901, -0.16386422514915466, 1.1447203159332275, 0.16873112320899963, 0.688510000705719, 0.6864496469497681, 0.16208218038082123], "left_arm_joint_positions": [-0.16079378128051758, -0.5649886131286621, -0.3587286174297333, -2.5193753242492676, 0.726882815361023, 1.9016892910003662, 0.6167219877243042], "right_arm_joint_positions": [-0.22710180282592773, 0.4147386848926544, 0.5758359432220459, -1.851940393447876, -1.22533118724823, 0.8295226097106934, -1.5533908605575562], "pregrasp_goal_pose": [0.26394244240249953, 0.18483941057837064, 1.040929819011387, 0.19329685132043592, 0.736622586608437, 0.6258371010922703, 0.16837878448404486], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0065.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0065.json
new file mode 100644
index 0000000000000000000000000000000000000000..d86790fb8fc0cea366a7d2c3deca089d0d6be9af
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0065.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0066.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0066.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c29999f677190080acacee098a2f6b2f3b7dba82
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0066.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0066.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0066.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb6ae53ea59a66b8c0b3810de55e5b328c4f82bb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0066.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0067.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0067.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..346718cb787f3a0c84f24438b0bf2c0571c58a4d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0067.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0067.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0067.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60608af00b16e3d04d02b717e567efcc8ed2eee
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0067.json
@@ -0,0 +1 @@
+{"frame_index": 67, "time_norm": 0.19822485207100593, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.29873883724212646, "right_arm_pose_y": -0.16393551230430603, "right_arm_pose_z": 1.1442692279815674, "right_arm_pose_qx": 0.16503722965717316, "right_arm_pose_qy": 0.6879798173904419, "right_arm_pose_qz": 0.6873834729194641, "right_arm_pose_qw": 0.16416597366333008, "left_arm_pose_x": 0.1640286147594452, "left_arm_pose_y": -0.03413233906030655, "left_arm_pose_z": 1.1862657070159912, "left_arm_pose_qx": 0.21103787422180176, "left_arm_pose_qy": 0.8815328478813171, "left_arm_pose_qz": 0.4110563397407532, "left_arm_pose_qw": 0.09693087637424469, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2811645923060532, "pregrasp_position_error": 0.2811645923060532, "pregrasp_orientation_error_deg": 30.958882173386236, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 288.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0075.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0075.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6b7bd92a79d725d44d99157589dd9a949f0b31e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0075.debug.json
@@ -0,0 +1 @@
+{"frame_index": 75, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16397880017757416, -0.03412465378642082, 1.1862101554870605, 0.21104934811592102, 0.8815348148345947, 0.4110643267631531, 0.09685394912958145], "right_arm_pose": [0.3186144530773163, -0.12442918866872787, 1.144308090209961, 0.1647791862487793, 0.6879428625106812, 0.6874378323554993, 0.16435247659683228], "left_arm_joint_positions": [-0.16080045700073242, -0.5647478103637695, -0.358765572309494, -2.5197176933288574, 0.7268344163894653, 1.9015965461730957, 0.6167858839035034], "right_arm_joint_positions": [-0.3048386573791504, 0.32027819752693176, 0.5639781951904297, -1.9788639545440674, -1.2272316217422485, 0.9228346347808838, -1.5637329816818237], "pregrasp_goal_pose": [0.26394232811886564, 0.18483960689156548, 1.0409301990682194, 0.19329460005237745, 0.7366263775107089, 0.6258326570392322, 0.16838130219610767], "pregrasp_position_error": 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"already_grasped_start": false, "already_grasped_end": false, "total_length": 0.0, "num_milestones": 5, "first_failed_milestone": 0, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [{"milestone_index": 0, "kind": "approach", "ignore_collisions": false, "path_found": false, "path_length": 0.0, "reliability": 0.0, "planner_score": 0.0, "height_before": 1.0474812984466553}], "score": 0.0007319450378417963}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0075.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0075.json
new file mode 100644
index 0000000000000000000000000000000000000000..b69b6a78c48c707969663be0ce9b90e2c1cd9a37
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0075.json
@@ -0,0 +1 @@
+{"frame_index": 75, "time_norm": 0.22189349112426035, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.3186144530773163, "right_arm_pose_y": -0.12442918866872787, "right_arm_pose_z": 1.144308090209961, "right_arm_pose_qx": 0.1647791862487793, "right_arm_pose_qy": 0.6879428625106812, "right_arm_pose_qz": 0.6874378323554993, "right_arm_pose_qw": 0.16435247659683228, "left_arm_pose_x": 0.16397880017757416, "left_arm_pose_y": -0.03412465378642082, "left_arm_pose_z": 1.1862101554870605, "left_arm_pose_qx": 0.21104934811592102, "left_arm_pose_qy": 0.8815348148345947, "left_arm_pose_qz": 0.4110643267631531, "left_arm_pose_qw": 0.09685394912958145, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2811482173334679, "pregrasp_position_error": 0.2811482173334679, "pregrasp_orientation_error_deg": 30.960566696154725, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 84.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 272.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0076.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0076.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5111acaefd59f798228f71f615b6b9af10df5ad3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0076.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0076.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0076.json
new file mode 100644
index 0000000000000000000000000000000000000000..215a75f66d1b4a099ae3351c11a0fd74e15d9bd9
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0076.json
@@ -0,0 +1 @@
+{"frame_index": 76, "time_norm": 0.22485207100591717, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.32388409972190857, "right_arm_pose_y": -0.11404812335968018, "right_arm_pose_z": 1.1443870067596436, "right_arm_pose_qx": 0.16476064920425415, "right_arm_pose_qy": 0.6879320740699768, "right_arm_pose_qz": 0.6874527335166931, "right_arm_pose_qw": 0.16435390710830688, "left_arm_pose_x": 0.1639678180217743, "left_arm_pose_y": -0.03410690277814865, "left_arm_pose_z": 1.1861213445663452, "left_arm_pose_qx": 0.21108107268810272, "left_arm_pose_qy": 0.881537914276123, "left_arm_pose_qz": 0.411064475774765, "left_arm_pose_qw": 0.09675615280866623, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28109058133876347, "pregrasp_position_error": 0.28109058133876347, "pregrasp_orientation_error_deg": 30.96357585827867, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 70.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 264.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0077.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0077.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..acc9c33962e8697547364ba6998b19ddbcf8005d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0077.debug.json
@@ -0,0 +1 @@
+{"frame_index": 77, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16399753093719482, -0.03411271423101425, 1.1861469745635986, 0.2110881209373474, 0.881532609462738, 0.41106194257736206, 0.09679961949586868], "right_arm_pose": [0.32927605509757996, -0.10337558388710022, 1.1443952322006226, 0.16470041871070862, 0.6879151463508606, 0.6874654293060303, 0.16443169116973877], "left_arm_joint_positions": [-0.1607956886291504, -0.5645749568939209, -0.358763188123703, -2.5197980403900146, 0.7268427610397339, 1.9016361236572266, 0.6167997121810913], "right_arm_joint_positions": [-0.3422219753265381, 0.27314165234565735, 0.5528879165649414, -2.0379977226257324, -1.232340931892395, 0.9735674858093262, -1.5689083337783813], "pregrasp_goal_pose": [0.2639421739252596, 0.184839843533317, 1.0409308728144624, 0.19329791345096253, 0.7366248386222788, 0.6258344112929141, 0.16837771058503456], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0077.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0077.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e087bd7e4e174357a42345ce47a27355ad1a9d4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0077.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0078.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0078.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1b01cc850428f4416f428a59b6b6fbbd3bdf955
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0078.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0078.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0078.json
new file mode 100644
index 0000000000000000000000000000000000000000..46099b490b7755889d061a21e947c16480c9225c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0078.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0079.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0079.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a85914add2922ca311f17a01a0be2760c095319e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0079.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0079.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0079.json
new file mode 100644
index 0000000000000000000000000000000000000000..091fe7ef108423c88b79b6d1616ef3181749f957
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0079.json
@@ -0,0 +1 @@
+{"frame_index": 79, "time_norm": 0.23372781065088757, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.34037694334983826, "right_arm_pose_y": -0.08148810267448425, "right_arm_pose_z": 1.1444916725158691, "right_arm_pose_qx": 0.1645970344543457, "right_arm_pose_qy": 0.687915563583374, "right_arm_pose_qz": 0.6874944567680359, "right_arm_pose_qw": 0.16441255807876587, "left_arm_pose_x": 0.16401787102222443, "left_arm_pose_y": -0.034134604036808014, "left_arm_pose_z": 1.186165452003479, "left_arm_pose_qx": 0.21108819544315338, "left_arm_pose_qy": 0.8815374374389648, "left_arm_pose_qz": 0.41104742884635925, "left_arm_pose_qw": 0.09681754559278488, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28111793518834916, "pregrasp_position_error": 0.28111793518834916, "pregrasp_orientation_error_deg": 30.963218105150744, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 13.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 254.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0080.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0080.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed41dfea89db5af214e703dec0b496e41d5d2333
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0080.debug.json
@@ -0,0 +1 @@
+{"frame_index": 80, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16401620209217072, -0.034124571830034256, 1.1861190795898438, 0.21110133826732635, 0.8815407156944275, 0.4110431671142578, 0.09677670896053314], "right_arm_pose": [0.34611430764198303, -0.07019637525081635, 1.144455075263977, 0.16448992490768433, 0.687907874584198, 0.6875109672546387, 0.16448289155960083], "left_arm_joint_positions": [-0.16080617904663086, -0.564401388168335, -0.35874125361442566, -2.519775390625, 0.7268630266189575, 1.9016458988189697, 0.6167627573013306], "right_arm_joint_positions": [-0.3967866897583008, 0.20357540249824524, 0.5301358699798584, -2.122943639755249, -1.2477377653121948, 1.0545291900634766, -1.5791033506393433], "pregrasp_goal_pose": [0.2639424510953709, 0.18483888222416253, 1.0409303067249887, 0.19329743384846984, 0.7366235333069823, 0.6258359631849731, 0.1683782035486498], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0080.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0080.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b50749e6feec13eee0dd8b0360212cdec44e4a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0080.json
@@ -0,0 +1 @@
+{"frame_index": 80, "time_norm": 0.23668639053254437, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.34611430764198303, "right_arm_pose_y": -0.07019637525081635, "right_arm_pose_z": 1.144455075263977, "right_arm_pose_qx": 0.16448992490768433, "right_arm_pose_qy": 0.687907874584198, "right_arm_pose_qz": 0.6875109672546387, "right_arm_pose_qw": 0.16448289155960083, "left_arm_pose_x": 0.16401620209217072, "left_arm_pose_y": -0.034124571830034256, "left_arm_pose_z": 1.1861190795898438, "left_arm_pose_qx": 0.21110133826732635, "left_arm_pose_qy": 0.8815407156944275, "left_arm_pose_qz": 0.4110431671142578, "left_arm_pose_qw": 0.09677670896053314, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2810872270616301, "pregrasp_position_error": 0.2810872270616301, "pregrasp_orientation_error_deg": 30.96601956383404, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 5.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 244.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0081.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0081.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..cabd2cad726906cc9923b96610134629ce5c88ea
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0081.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0081.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0081.json
new file mode 100644
index 0000000000000000000000000000000000000000..69f5aa3c5bd0b047ebe729da50e3abc6119d7164
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0081.json
@@ -0,0 +1 @@
+{"frame_index": 81, "time_norm": 0.23964497041420119, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.35195156931877136, "right_arm_pose_y": -0.05862820893526077, "right_arm_pose_z": 1.144481897354126, "right_arm_pose_qx": 0.16444748640060425, "right_arm_pose_qy": 0.6879007816314697, "right_arm_pose_qz": 0.6875181794166565, "right_arm_pose_qw": 0.1645248532295227, "left_arm_pose_x": 0.16401371359825134, "left_arm_pose_y": -0.03411274775862694, "left_arm_pose_z": 1.1861050128936768, "left_arm_pose_qx": 0.21111607551574707, "left_arm_pose_qy": 0.8815339803695679, "left_arm_pose_qz": 0.4110483229160309, "left_arm_pose_qw": 0.09678426384925842, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28107013534968306, "pregrasp_position_error": 0.28107013534968306, "pregrasp_orientation_error_deg": 30.963986186359964, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 1.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 236.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0082.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0082.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..6200ce4ca5da8da4b262027180480ff1668a4922
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0082.debug.json
@@ -0,0 +1 @@
+{"frame_index": 82, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.16400174796581268, -0.03410951793193817, 1.1861484050750732, 0.2111000120639801, 0.8815324306488037, 0.4110505282878876, 0.09682384878396988], "right_arm_pose": [0.3579033613204956, -0.04685891419649124, 1.1444671154022217, 0.16439209878444672, 0.6878998875617981, 0.6875178217887878, 0.164585143327713], "left_arm_joint_positions": [-0.16078472137451172, -0.5645854473114014, -0.35878488421440125, -2.519817590713501, 0.7268415689468384, 1.9016690254211426, 0.6167680025100708], "right_arm_joint_positions": [-0.43241310119628906, 0.15917542576789856, 0.5102002620697021, -2.1759109497070312, -1.263623595237732, 1.1111834049224854, -1.5868815183639526], "pregrasp_goal_pose": [0.2639422939154844, 0.18483847473391712, 1.040930591554742, 0.1932962891427047, 0.7366245764707819, 0.6258347587495404, 0.16837943070281938], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0082.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0082.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b993be500f56a30930b29210ed747f9cb761c27
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0082.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0083.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0083.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbfb55fe8ec60ed4c382b5131dea89421600c4b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0083.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0083.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0083.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c3efdbbde0063191556ea4af0370d84810157f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0083.json
@@ -0,0 +1 @@
+{"frame_index": 83, "time_norm": 0.2455621301775148, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.3639752268791199, "right_arm_pose_y": -0.03487441688776016, "right_arm_pose_z": 1.144533634185791, "right_arm_pose_qx": 0.16430947184562683, "right_arm_pose_qy": 0.6878971457481384, "right_arm_pose_qz": 0.6875423789024353, "right_arm_pose_qw": 0.16457659006118774, "left_arm_pose_x": 0.1639862358570099, "left_arm_pose_y": -0.034118346869945526, "left_arm_pose_z": 1.1860995292663574, "left_arm_pose_qx": 0.21110720932483673, "left_arm_pose_qy": 0.8815360069274902, "left_arm_pose_qz": 0.41105741262435913, "left_arm_pose_qw": 0.09674602746963501, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2810824044216188, "pregrasp_position_error": 0.2810824044216188, "pregrasp_orientation_error_deg": 30.964310051754726, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 224.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0090.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0090.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..51ea792738d6a5c657d632b0be5fc64dc0451485
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0090.debug.json
@@ -0,0 +1 @@
+{"frame_index": 90, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.16398045420646667, -0.034107059240341187, 1.186105489730835, 0.21109473705291748, 0.8815355896949768, 0.41106393933296204, 0.0967501699924469], "right_arm_pose": [0.4077455699443817, 0.051249731332063675, 1.1446919441223145, 0.16380882263183594, 0.6878500580787659, 0.6876440048217773, 0.16484779119491577], "left_arm_joint_positions": [-0.1607985496520996, -0.5645248889923096, -0.3587615191936493, -2.519868850708008, 0.7268561124801636, 1.901627540588379, 0.6167372465133667], "right_arm_joint_positions": [-0.5676395893096924, 0.018045693635940552, 0.4006321430206299, -2.3419089317321777, -1.3738611936569214, 1.3406059741973877, -1.6146537065505981], "pregrasp_goal_pose": [0.2639423023613241, 0.1848393725807818, 1.040930658997682, 0.19329845688232583, 0.7366226211640731, 0.6258370992016432, 0.16837679715196766], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0090.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0090.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b6cb9f260e8ff93a8b4e0cfe78c85c45ba0a0d3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0090.json
@@ -0,0 +1 @@
+{"frame_index": 90, "time_norm": 0.26627218934911245, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4077455699443817, "right_arm_pose_y": 0.051249731332063675, "right_arm_pose_z": 1.1446919441223145, "right_arm_pose_qx": 0.16380882263183594, "right_arm_pose_qy": 0.6878500580787659, "right_arm_pose_qz": 0.6876440048217773, "right_arm_pose_qw": 0.16484779119491577, "left_arm_pose_x": 0.16398045420646667, "left_arm_pose_y": -0.034107059240341187, "left_arm_pose_z": 1.186105489730835, "left_arm_pose_qx": 0.21109473705291748, "left_arm_pose_qy": 0.8815355896949768, "left_arm_pose_qz": 0.41106393933296204, "left_arm_pose_qw": 0.0967501699924469, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28107942395724395, "pregrasp_position_error": 0.28107942395724395, "pregrasp_orientation_error_deg": 30.964660438113054, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 154.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0091.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0091.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..995b515cf8e8323154988f56e7add4116b76dea0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0091.debug.json
@@ -0,0 +1 @@
+{"frame_index": 91, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.16398347914218903, -0.0341063030064106, 1.1860911846160889, 0.21109096705913544, 0.8815353512763977, 0.411068320274353, 0.09674116969108582], "right_arm_pose": [0.4116975963115692, 0.05885772407054901, 1.1447514295578003, 0.16376416385173798, 0.6878319978713989, 0.6876667141914368, 0.16487248241901398], "left_arm_joint_positions": [-0.16079044342041016, -0.564450740814209, -0.358779639005661, -2.519855260848999, 0.7268542051315308, 1.9016010761260986, 0.6167236566543579], "right_arm_joint_positions": [-0.5776057243347168, 0.010431081056594849, 0.39087653160095215, -2.350989580154419, -1.3848503828048706, 1.357311725616455, -1.6161495447158813], "pregrasp_goal_pose": [0.26394226731275033, 0.1848392991668762, 1.0409323146544274, 0.1932979420133991, 0.7366282667944762, 0.6258304046601069, 0.16837757206860296], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0091.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0091.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d366cb8a4bff374a73d087591cb8171a1c35f7f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0091.json
@@ -0,0 +1 @@
+{"frame_index": 91, "time_norm": 0.2692307692307692, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4116975963115692, "right_arm_pose_y": 0.05885772407054901, "right_arm_pose_z": 1.1447514295578003, "right_arm_pose_qx": 0.16376416385173798, "right_arm_pose_qy": 0.6878319978713989, "right_arm_pose_qz": 0.6876667141914368, "right_arm_pose_qw": 0.16487248241901398, "left_arm_pose_x": 0.16398347914218903, "left_arm_pose_y": -0.0341063030064106, "left_arm_pose_z": 1.1860911846160889, "left_arm_pose_qx": 0.21109096705913544, "left_arm_pose_qy": 0.8815353512763977, "left_arm_pose_qz": 0.411068320274353, "left_arm_pose_qw": 0.09674116969108582, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28106944617317775, "pregrasp_position_error": 0.28106944617317775, "pregrasp_orientation_error_deg": 30.963550194096605, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 152.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0092.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0092.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffd844edaf7376035ee79f2d275263d174bf8729
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0092.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0092.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0092.json
new file mode 100644
index 0000000000000000000000000000000000000000..b37ccdf9ca4cb71f4422a3e745351d531ca0b3f0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0092.json
@@ -0,0 +1 @@
+{"frame_index": 92, "time_norm": 0.27218934911242604, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4142187833786011, "right_arm_pose_y": 0.06374897807836533, "right_arm_pose_z": 1.1447097063064575, "right_arm_pose_qx": 0.16364967823028564, "right_arm_pose_qy": 0.6878699064254761, "right_arm_pose_qz": 0.6876493096351624, "right_arm_pose_qw": 0.16490048170089722, "left_arm_pose_x": 0.1639828234910965, "left_arm_pose_y": -0.034109968692064285, "left_arm_pose_z": 1.186113953590393, "left_arm_pose_qx": 0.2110913097858429, "left_arm_pose_qy": 0.8815328478813171, "left_arm_pose_qz": 0.4110744297504425, "left_arm_pose_qw": 0.096737340092659, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2810847257256175, "pregrasp_position_error": 0.2810847257256175, "pregrasp_orientation_error_deg": 30.962950057285344, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 144.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0093.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0093.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..265b6a0ba17f2bb58d348b0b51887ad0e38d4fa3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0093.debug.json
@@ -0,0 +1 @@
+{"frame_index": 93, "state": {"door_angle": 1.5705455541610718, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.16391710937023163, -0.034039631485939026, 1.1856998205184937, 0.21126718819141388, 0.881543755531311, 0.4110665023326874, 0.09628640860319138], "right_arm_pose": [0.41543227434158325, 0.06602104008197784, 1.1449533700942993, 0.16348032653331757, 0.6878476142883301, 0.6877037286758423, 0.16493463516235352], "left_arm_joint_positions": [-0.1607685089111328, -0.564049243927002, -0.35883185267448425, -2.520294427871704, 0.7267755270004272, 1.9015846252441406, 0.6168440580368042], "right_arm_joint_positions": [-0.586803674697876, 0.004115372896194458, 0.38195037841796875, -2.3590805530548096, -1.395154356956482, 1.3728358745574951, -1.617550253868103], "pregrasp_goal_pose": [0.2639425934462446, 0.18483892218267228, 1.0409316847068106, 0.19329880260146723, 0.736625381626343, 0.6258339471293531, 0.16837603949843155], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0093.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0093.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a3f2f452b475e376aac0ac3e3b9a10065a29f8e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0093.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0094.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0094.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..7086a6155fdbe9ac9950cb474901a81e06191494
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0094.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0094.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0094.json
new file mode 100644
index 0000000000000000000000000000000000000000..674b623bd1f045a3a770496a9cfd31fb4a075982
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0094.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0095.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0095.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2f2b995dd99a948f877984330826a26536ba040
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0095.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0095.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0095.json
new file mode 100644
index 0000000000000000000000000000000000000000..68c8cfa0c9cef72161893f00ee37c5d03933f201
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0095.json
@@ -0,0 +1 @@
+{"frame_index": 95, "time_norm": 0.28106508875739644, "door_angle": 1.5709480047225952, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.41577044129371643, "right_arm_pose_y": 0.06692593544721603, "right_arm_pose_z": 1.1450064182281494, "right_arm_pose_qx": 0.16355663537979126, "right_arm_pose_qy": 0.6878540515899658, "right_arm_pose_qz": 0.6877455711364746, "right_arm_pose_qw": 0.16465748846530914, "left_arm_pose_x": 0.16394129395484924, "left_arm_pose_y": -0.03408791497349739, "left_arm_pose_z": 1.1860865354537964, "left_arm_pose_qx": 0.2110881805419922, "left_arm_pose_qy": 0.8815340995788574, "left_arm_pose_qz": 0.41108208894729614, "left_arm_pose_qw": 0.09670080989599228, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2810689824381529, "pregrasp_position_error": 0.2810689824381529, "pregrasp_orientation_error_deg": 30.964790365872542, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 135.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0096.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0096.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..eab75d5f36df8f7409b2000ff7ad1e186b8f5eaf
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0096.debug.json
@@ -0,0 +1 @@
+{"frame_index": 96, "state": {"door_angle": 1.5710803270339966, "tray_height": 1.0474826097488403, "tray_grasped_left": false, "left_arm_pose": [0.1639546900987625, -0.034097280353307724, 1.1860846281051636, 0.21108226478099823, 0.8815353512763977, 0.4110800623893738, 0.09671071916818619], "right_arm_pose": [0.41582855582237244, 0.06699178367853165, 1.1450749635696411, 0.16356317698955536, 0.6878390908241272, 0.6877661347389221, 0.1646275669336319], "left_arm_joint_positions": [-0.16079425811767578, -0.5644986629486084, -0.35877344012260437, -2.5199801921844482, 0.7268377542495728, 1.9016010761260986, 0.61674964427948], "right_arm_joint_positions": [-0.5881986618041992, 0.0026688873767852783, 0.38063931465148926, -2.359950304031372, -1.3969453573226929, 1.3752539157867432, -1.6177014112472534], "pregrasp_goal_pose": [0.26394228549172505, 0.18483867318051891, 1.0409314202499846, 0.193295647634146, 0.7366276572886675, 0.6258311041295455, 0.16838027267794625], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0096.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0096.json
new file mode 100644
index 0000000000000000000000000000000000000000..486f60439f27019df1b26047368f045e97825314
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0096.json
@@ -0,0 +1 @@
+{"frame_index": 96, "time_norm": 0.28402366863905326, "door_angle": 1.5710803270339966, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.41582855582237244, "right_arm_pose_y": 0.06699178367853165, "right_arm_pose_z": 1.1450749635696411, "right_arm_pose_qx": 0.16356317698955536, "right_arm_pose_qy": 0.6878390908241272, "right_arm_pose_qz": 0.6877661347389221, "right_arm_pose_qw": 0.1646275669336319, "left_arm_pose_x": 0.1639546900987625, "left_arm_pose_y": -0.034097280353307724, "left_arm_pose_z": 1.1860846281051636, "left_arm_pose_qx": 0.21108226478099823, "left_arm_pose_qy": 0.8815353512763977, "left_arm_pose_qz": 0.4110800623893738, "left_arm_pose_qw": 0.09671071916818619, "tray_height": 1.0474826097488403, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2810692525568769, "pregrasp_position_error": 0.2810692525568769, "pregrasp_orientation_error_deg": 30.963540150955165, "p_pre": 0.0, "p_ext": 0.0007335344950358067, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474817752838135, "p_ext_final_height": 1.0474817752838135, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 135.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0105.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0105.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe5d67b503defec25f5d7960137f5af5c39ac5fc
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0105.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0105.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0105.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff96809fbe865593214e7f1ab6da7afc27e81f3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0105.json
@@ -0,0 +1 @@
+{"frame_index": 105, "time_norm": 0.3106508875739645, "door_angle": 1.519265055656433, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.4095902442932129, "right_arm_pose_y": 0.05440979078412056, "right_arm_pose_z": 1.144386649131775, "right_arm_pose_qx": 0.1449182629585266, "right_arm_pose_qy": 0.6050705909729004, "right_arm_pose_qz": 0.7615824937820435, "right_arm_pose_qw": 0.181329607963562, "left_arm_pose_x": 0.16419678926467896, "left_arm_pose_y": -0.033985015004873276, "left_arm_pose_z": 1.1868321895599365, "left_arm_pose_qx": 0.21074630320072174, "left_arm_pose_qy": 0.8815358281135559, "left_arm_pose_qz": 0.4111495614051819, "left_arm_pose_qw": 0.09714244306087494, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28128296201448355, "pregrasp_position_error": 0.28128296201448355, "pregrasp_orientation_error_deg": 30.94135420285139, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 100.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0106.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0106.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8cee969d47f68c55616d58d0b63a9d684e2156e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0106.debug.json
@@ -0,0 +1 @@
+{"frame_index": 106, "state": {"door_angle": 1.4938820600509644, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16420570015907288, -0.03394763171672821, 1.1868293285369873, 0.2107478380203247, 0.8815324306488037, 0.41115549206733704, 0.09714510291814804], "right_arm_pose": [0.4070204794406891, 0.04897865280508995, 1.1434998512268066, 0.14216038584709167, 0.5924786925315857, 0.7713688611984253, 0.1837102770805359], "left_arm_joint_positions": [-0.1603846549987793, -0.5647130012512207, -0.3585064113140106, -2.518611192703247, 0.727136492729187, 1.9012665748596191, 0.6171673536300659], "right_arm_joint_positions": [-0.5371828079223633, 0.14751318097114563, 0.403825044631958, -2.355442762374878, -1.5356312990188599, 1.1126937866210938, -1.5303901433944702], "pregrasp_goal_pose": [0.26394233156415725, 0.1848374078289189, 1.0409298042303785, 0.19329365423715694, 0.7366262938930572, 0.6258326916672379, 0.16838262504654605], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0106.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0106.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ec526aad9135c989fdfbe3e1d36dc6c4071d71
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0106.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0107.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0107.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..963b6e8e6b8feb5b2f688030e1e1340209b63cf2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0107.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0107.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0107.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b73644d99d4f453a8909f4cc24d080cbdfc67ef
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0107.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0108.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0108.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..693821f577d6baf101a0ea2da686f0a9ac1cbc7e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0108.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0108.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0108.json
new file mode 100644
index 0000000000000000000000000000000000000000..2225b2bf285bcb44686f942f8e281ab0845d03d6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0108.json
@@ -0,0 +1 @@
+{"frame_index": 108, "time_norm": 0.31952662721893493, "door_angle": 1.437846064567566, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.39920714497566223, "right_arm_pose_y": 0.034179676324129105, "right_arm_pose_z": 1.1398121118545532, "right_arm_pose_qx": 0.13742026686668396, "right_arm_pose_qy": 0.5726858377456665, "right_arm_pose_qz": 0.7862759828567505, "right_arm_pose_qw": 0.18686044216156006, "left_arm_pose_x": 0.16419626772403717, "left_arm_pose_y": -0.03395325690507889, "left_arm_pose_z": 1.186841368675232, "left_arm_pose_qx": 0.21074636280536652, "left_arm_pose_qy": 0.8815337419509888, "left_arm_pose_qz": 0.4111512303352356, "left_arm_pose_qw": 0.09715359658002853, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.281263162553819, "pregrasp_position_error": 0.281263162553819, "pregrasp_orientation_error_deg": 30.941240077454687, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.022222222222222254, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 87.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.022222222222222223, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 2.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 0.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0109.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0109.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..253055bc018efe6b4b529f56e05904b2f19eb640
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0109.debug.json
@@ -0,0 +1 @@
+{"frame_index": 109, "state": {"door_angle": 1.4072381258010864, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.1641966849565506, -0.03396846354007721, 1.186809778213501, 0.21075858175754547, 0.8815325498580933, 0.41115602850914, 0.09711790084838867], "right_arm_pose": [0.39518097043037415, 0.026136375963687897, 1.137492299079895, 0.13493061065673828, 0.5636134147644043, 0.7928764820098877, 0.18836309015750885], "left_arm_joint_positions": [-0.16038870811462402, -0.5646872520446777, -0.35851404070854187, -2.5187020301818848, 0.7271510362625122, 1.9012477397918701, 0.6171392202377319], "right_arm_joint_positions": [-0.49364757537841797, 0.22194960713386536, 0.41946983337402344, -2.327705144882202, -1.5465527772903442, 1.000880479812622, -1.5062605142593384], "pregrasp_goal_pose": [0.263942401367374, 0.18483735960661943, 1.0409301678260545, 0.19329141690095814, 0.7366288086163314, 0.6258297797283588, 0.16838501499259953], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0109.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0109.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd0e8d7ff3541b0ba7f43acbde0bb2f65942a62
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0109.json
@@ -0,0 +1 @@
+{"frame_index": 109, "time_norm": 0.3224852071005917, "door_angle": 1.4072381258010864, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.39518097043037415, "right_arm_pose_y": 0.026136375963687897, "right_arm_pose_z": 1.137492299079895, "right_arm_pose_qx": 0.13493061065673828, "right_arm_pose_qy": 0.5636134147644043, "right_arm_pose_qz": 0.7928764820098877, "right_arm_pose_qw": 0.18836309015750885, "left_arm_pose_x": 0.1641966849565506, "left_arm_pose_y": -0.03396846354007721, "left_arm_pose_z": 1.186809778213501, "left_arm_pose_qx": 0.21075858175754547, "left_arm_pose_qy": 0.8815325498580933, "left_arm_pose_qz": 0.41115602850914, "left_arm_pose_qw": 0.09711790084838867, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2812579899522947, "pregrasp_position_error": 0.2812579899522947, "pregrasp_orientation_error_deg": 30.941398632874236, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.18888888888888888, "full_view_whole_tray_visibility": 0.05714285714285716, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 82.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.18888888888888888, "over_shoulder_right_tray_visibility": 0.05714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 17.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0110.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0110.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2218ae5ebda22acdb74db61a0ab65da3f68e7376
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0110.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0110.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0110.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b57b0064a8eed6c00f47acb24058e65ee486a42
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0110.json
@@ -0,0 +1 @@
+{"frame_index": 110, "time_norm": 0.3254437869822485, "door_angle": 1.377832055091858, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.39148950576782227, "right_arm_pose_y": 0.018300440162420273, "right_arm_pose_z": 1.1351765394210815, "right_arm_pose_qx": 0.13326731324195862, "right_arm_pose_qy": 0.5532004833221436, "right_arm_pose_qz": 0.7999664545059204, "right_arm_pose_qw": 0.19042761623859406, "left_arm_pose_x": 0.1642090231180191, "left_arm_pose_y": -0.03395139425992966, "left_arm_pose_z": 1.186780571937561, "left_arm_pose_qx": 0.21077655255794525, "left_arm_pose_qy": 0.8815325498580933, "left_arm_pose_qz": 0.4111526310443878, "left_arm_pose_qw": 0.09709376841783524, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.281225249251002, "pregrasp_position_error": 0.281225249251002, "pregrasp_orientation_error_deg": 30.943010804506557, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.38888888888888884, "full_view_whole_tray_visibility": 0.05714285714285716, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 78.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.3888888888888889, "over_shoulder_right_tray_visibility": 0.05714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 35.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0111.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0111.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec17d40cab97492dfe8e73285af8043d89fb70a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0111.debug.json
@@ -0,0 +1 @@
+{"frame_index": 111, "state": {"door_angle": 1.3481236696243286, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.1641777753829956, -0.03397032991051674, 1.1868363618850708, 0.2107541561126709, 0.8815287947654724, 0.41116058826446533, 0.0971425250172615], "right_arm_pose": [0.38792848587036133, 0.010878920555114746, 1.1321908235549927, 0.13158054649829865, 0.5429536700248718, 0.8068206310272217, 0.1921674758195877], "left_arm_joint_positions": [-0.16039776802062988, -0.5648519992828369, -0.35851261019706726, -2.5186805725097656, 0.7271677255630493, 1.901305913925171, 0.6171449422836304], "right_arm_joint_positions": [-0.4634401798248291, 0.27694180607795715, 0.4254343509674072, -2.305694341659546, -1.5524541139602661, 0.9229199886322021, -1.4875649213790894], "pregrasp_goal_pose": [0.26394186848495316, 0.18483750246171743, 1.040931208687838, 0.19329894862941216, 0.7366261637262878, 0.6258319867388282, 0.1683797367475886], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0111.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0111.json
new file mode 100644
index 0000000000000000000000000000000000000000..65052032b252f9db3fbed55e44f7bfcfb43d9baf
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0111.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0120.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0120.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..394fb9ee9f99cc1ee1e5f344618da691581e6957
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0120.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0120.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0120.json
new file mode 100644
index 0000000000000000000000000000000000000000..3356c88d6a39397c964978b70018f8fe6abde784
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0120.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0121.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0121.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd565f09e54bbb81645230ce3486a368d4e98fb4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0121.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0121.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0121.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d8ba0cc4133c5dbc66e636c2e01c3aea1e7331d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0121.json
@@ -0,0 +1 @@
+{"frame_index": 121, "time_norm": 0.35798816568047337, "door_angle": 1.0358833074569702, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.3517140746116638, "right_arm_pose_y": -0.061275795102119446, "right_arm_pose_z": 1.0889201164245605, "right_arm_pose_qx": 0.1078537330031395, "right_arm_pose_qy": 0.4446759819984436, "right_arm_pose_qz": 0.8649760484695435, "right_arm_pose_qw": 0.2060275822877884, "left_arm_pose_x": 0.16419565677642822, "left_arm_pose_y": -0.03395463153719902, "left_arm_pose_z": 1.186766266822815, "left_arm_pose_qx": 0.21077193319797516, "left_arm_pose_qy": 0.8815330266952515, "left_arm_pose_qz": 0.4111572802066803, "left_arm_pose_qw": 0.09707972407341003, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2812243720760395, "pregrasp_position_error": 0.2812243720760395, "pregrasp_orientation_error_deg": 30.942782451915082, "p_pre": 0.0, "p_ext": 0.0007327397664388015, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474815368652344, "p_ext_final_height": 1.0474815368652344, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6222222222222222, "three_view_whole_tray_visibility": 0.7638888888888888, "full_view_visibility": 0.7901234567901234, "full_view_whole_tray_visibility": 0.7773809523809523, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6222222222222222, "wrist_left_tray_visibility": 0.7638888888888888, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 56.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 220.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.05714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0122.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0122.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e7661c996f1ff0272f58119bf6c9a452a4fe4f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0122.debug.json
@@ -0,0 +1 @@
+{"frame_index": 122, "state": {"door_angle": 1.007280707359314, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.16421061754226685, -0.033955980092287064, 1.1867867708206177, 0.2107739895582199, 0.8815324902534485, 0.41115134954452515, 0.097105473279953], "right_arm_pose": [0.34861692786216736, -0.06701423972845078, 1.083893060684204, 0.10460939258337021, 0.43209218978881836, 0.8714050650596619, 0.207380473613739], "left_arm_joint_positions": [-0.1604013442993164, -0.5646641254425049, -0.35850951075553894, -2.5185799598693848, 0.7271527051925659, 1.9012947082519531, 0.617153525352478], "right_arm_joint_positions": [-0.28316164016723633, 0.6068828105926514, 0.39321351051330566, -2.139935255050659, -1.5918158292770386, 0.5725352764129639, -1.4184857606887817], "pregrasp_goal_pose": [0.26394214675581756, 0.18483789551981017, 1.0409297548978265, 0.19329446336483982, 0.7366244279227934, 0.625834890246129, 0.1683816877529487], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0122.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0122.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0301dba9f93ffa226398125debe5f9e93a14c1
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0122.json
@@ -0,0 +1 @@
+{"frame_index": 122, "time_norm": 0.3609467455621302, "door_angle": 1.007280707359314, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.34861692786216736, "right_arm_pose_y": -0.06701423972845078, "right_arm_pose_z": 1.083893060684204, "right_arm_pose_qx": 0.10460939258337021, "right_arm_pose_qy": 0.43209218978881836, "right_arm_pose_qz": 0.8714050650596619, "right_arm_pose_qw": 0.207380473613739, "left_arm_pose_x": 0.16421061754226685, "left_arm_pose_y": -0.033955980092287064, "left_arm_pose_z": 1.1867867708206177, "left_arm_pose_qx": 0.2107739895582199, "left_arm_pose_qy": 0.8815324902534485, "left_arm_pose_qz": 0.41115134954452515, "left_arm_pose_qw": 0.097105473279953, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28123194523122114, "pregrasp_position_error": 0.28123194523122114, "pregrasp_orientation_error_deg": 30.94294083013217, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6111111111111112, "three_view_whole_tray_visibility": 0.7604166666666666, "full_view_visibility": 0.7839506172839507, "full_view_whole_tray_visibility": 0.7741071428571429, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6111111111111112, "wrist_left_tray_visibility": 0.7604166666666666, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 55.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 219.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.05714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0123.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0123.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d83541d333863ac7f1fd1e5becfe51198080bed3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0123.debug.json
@@ -0,0 +1 @@
+{"frame_index": 123, "state": {"door_angle": 0.9828037023544312, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.16420182585716248, -0.03397305682301521, 1.186826467514038, 0.21076112985610962, 0.8815322518348694, 0.41115209460258484, 0.09713208675384521], "right_arm_pose": [0.34587550163269043, -0.0725126639008522, 1.0790518522262573, 0.10153013467788696, 0.4179210662841797, 0.8782957196235657, 0.20887883007526398], "left_arm_joint_positions": [-0.16038227081298828, -0.5645415782928467, -0.3585066497325897, -2.5185258388519287, 0.7271727323532104, 1.9013149738311768, 0.6171625852584839], "right_arm_joint_positions": [-0.26766204833984375, 0.637794017791748, 0.3824276924133301, -2.124779224395752, -1.6024140119552612, 0.5421018600463867, -1.4161964654922485], "pregrasp_goal_pose": [0.26394227504322676, 0.18483745212702424, 1.040930729901431, 0.19329545400797332, 0.73662607521041, 0.6258329402428835, 0.16838059177620904], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0123.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0123.json
new file mode 100644
index 0000000000000000000000000000000000000000..38111fbb2f6be955b311963ce7139e5c3eb544f7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0123.json
@@ -0,0 +1 @@
+{"frame_index": 123, "time_norm": 0.363905325443787, "door_angle": 0.9828037023544312, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.34587550163269043, "right_arm_pose_y": -0.0725126639008522, "right_arm_pose_z": 1.0790518522262573, "right_arm_pose_qx": 0.10153013467788696, "right_arm_pose_qy": 0.4179210662841797, "right_arm_pose_qz": 0.8782957196235657, "right_arm_pose_qw": 0.20887883007526398, "left_arm_pose_x": 0.16420182585716248, "left_arm_pose_y": -0.03397305682301521, "left_arm_pose_z": 1.186826467514038, "left_arm_pose_qx": 0.21076112985610962, "left_arm_pose_qy": 0.8815322518348694, "left_arm_pose_qz": 0.41115209460258484, "left_arm_pose_qw": 0.09713208675384521, "tray_height": 1.0474824905395508, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.281268132365435, "pregrasp_position_error": 0.281268132365435, "pregrasp_orientation_error_deg": 30.94162313671506, "p_pre": 0.0, "p_ext": 0.0007335344950358067, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474817752838135, "p_ext_final_height": 1.0474817752838135, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6111111111111112, "three_view_whole_tray_visibility": 0.7604166666666666, "full_view_visibility": 0.7839506172839507, "full_view_whole_tray_visibility": 0.7741071428571429, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6111111111111112, "wrist_left_tray_visibility": 0.7604166666666666, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 55.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 219.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.05714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0124.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0124.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ecbf4a1619c2e9ebaf3cc53636172b38227e55
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0124.debug.json
@@ -0,0 +1 @@
+{"frame_index": 124, "state": {"door_angle": 0.955675482749939, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16421400010585785, -0.03395545855164528, 1.186828374862671, 0.2107444703578949, 0.8815371990203857, 0.4111495614051819, 0.0971343070268631], "right_arm_pose": [0.34356582164764404, -0.07795129716396332, 1.0742919445037842, 0.09859350323677063, 0.4026769995689392, 0.8852185010910034, 0.2109951376914978], "left_arm_joint_positions": [-0.16039109230041504, -0.5646400451660156, -0.35849329829216003, -2.518528699874878, 0.7271600961685181, 1.9012713432312012, 0.6171566247940063], "right_arm_joint_positions": [-0.2515745162963867, 0.6687150001525879, 0.37088751792907715, -2.1097066402435303, -1.6121352910995483, 0.5111122131347656, -1.4149407148361206], "pregrasp_goal_pose": [0.2639421708487215, 0.184838383722522, 1.0409313813143064, 0.19329719251116267, 0.7366274167610296, 0.625831314340873, 0.1683787701393802], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0124.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0124.json
new file mode 100644
index 0000000000000000000000000000000000000000..24cd4ae49829febb85eeda537ad56c0fe7c754a6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0124.json
@@ -0,0 +1 @@
+{"frame_index": 124, "time_norm": 0.3668639053254438, "door_angle": 0.955675482749939, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.34356582164764404, "right_arm_pose_y": -0.07795129716396332, "right_arm_pose_z": 1.0742919445037842, "right_arm_pose_qx": 0.09859350323677063, "right_arm_pose_qy": 0.4026769995689392, "right_arm_pose_qz": 0.8852185010910034, "right_arm_pose_qw": 0.2109951376914978, "left_arm_pose_x": 0.16421400010585785, "left_arm_pose_y": -0.03395545855164528, "left_arm_pose_z": 1.186828374862671, "left_arm_pose_qx": 0.2107444703578949, "left_arm_pose_qy": 0.8815371990203857, "left_arm_pose_qz": 0.4111495614051819, "left_arm_pose_qw": 0.0971343070268631, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28125146432198794, "pregrasp_position_error": 0.28125146432198794, "pregrasp_orientation_error_deg": 30.941669210464273, "p_pre": 0.0, "p_ext": 0.0007319450378417963, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474812984466553, "p_ext_final_height": 1.0474812984466553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6111111111111112, "three_view_whole_tray_visibility": 0.7604166666666666, "full_view_visibility": 0.7839506172839507, "full_view_whole_tray_visibility": 0.7741071428571429, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6111111111111112, "wrist_left_tray_visibility": 0.7604166666666666, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 55.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 219.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.05714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0125.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0125.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a4a932fcf3db43e02b2f74a9c99b0c091b66a3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0125.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0125.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0125.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7b1bea09f01adf0987cf9a65b50ac70bddc2059
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0125.json
@@ -0,0 +1 @@
+{"frame_index": 125, "time_norm": 0.3698224852071006, "door_angle": 0.9288831949234009, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.34047096967697144, "right_arm_pose_y": -0.0829525738954544, "right_arm_pose_z": 1.0687795877456665, "right_arm_pose_qx": 0.09485413879156113, "right_arm_pose_qy": 0.38849717378616333, "right_arm_pose_qz": 0.891846776008606, "right_arm_pose_qw": 0.21138140559196472, "left_arm_pose_x": 0.16418731212615967, "left_arm_pose_y": -0.033939432352781296, "left_arm_pose_z": 1.1867907047271729, "left_arm_pose_qx": 0.21075217425823212, "left_arm_pose_qy": 0.8815318942070007, "left_arm_pose_qz": 0.41116276383399963, "left_arm_pose_qw": 0.09710978716611862, "tray_height": 1.0474823713302612, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28122884966037776, "pregrasp_position_error": 0.28122884966037776, "pregrasp_orientation_error_deg": 30.941466157062138, "p_pre": 0.0, "p_ext": 0.000733137130737304, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047481656074524, "p_ext_final_height": 1.047481656074524, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6111111111111112, "three_view_whole_tray_visibility": 0.7604166666666666, "full_view_visibility": 0.7839506172839507, "full_view_whole_tray_visibility": 0.7741071428571429, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6111111111111112, "wrist_left_tray_visibility": 0.7604166666666666, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 55.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 219.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.05714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0126.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0126.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef5666a122323532c0075b92b67ec1a6d5f554d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0126.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0126.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0126.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa0306df4feb7c68d5e63772eaa78201400facb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0126.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0135.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0135.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe5b752a0a5a51a2a2c1b59917f5921b3fce92e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0135.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0135.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0135.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2b6fcb18b192fa1a1e17e6320597c29d2fd9ec
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0135.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0136.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0136.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..da826a0ef0fdfb6e257d15e6471804ed78b924c1
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0136.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0136.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0136.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cee491cd41314e393539db1b65b8b56a5eda8a5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0136.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0137.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0137.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..314c61e4a04b532b3a40e960d68c904cdc6b820f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0137.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0137.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0137.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdbaafd1858f1b1c0fb8bd67c975de083f42f86e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0137.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0138.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0138.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..366cf576ee57165113c90e75404e3a62d45d7e64
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0138.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0138.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0138.json
new file mode 100644
index 0000000000000000000000000000000000000000..399ed53377986c06683105291006c2d3668e8ed5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0138.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0139.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0139.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..de783da11e451c3276ae0100359c2cb7475c7e3f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0139.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0139.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0139.json
new file mode 100644
index 0000000000000000000000000000000000000000..31c5be4ee357501c6c2d21c4ae2ee62f5666506b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0139.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0150.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0150.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..185b370220a3e83918814259385c97bfc1b6f184
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0150.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0150.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0150.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae153e463b332878c0752dd96c97df73b039f73e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0150.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0151.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0151.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a302464082ce7785ff11fc3cc2153ac14283d9b7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0151.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0151.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0151.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe008fd001152cfca138d54bec5e340978838ff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0151.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0152.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0152.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e5e27199a04bba698a4bb2fb6dd6889d2247d05
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0152.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0152.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0152.json
new file mode 100644
index 0000000000000000000000000000000000000000..09ea01b98e25b9df5655609230f742d90632c681
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0152.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0153.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0153.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..49aa3d134b56822d2a87db18ba96102747dee917
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0153.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0153.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0153.json
new file mode 100644
index 0000000000000000000000000000000000000000..0620d551197b3305ace88d2d6bbf4090d61a16fb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0153.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0154.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0154.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7a3e43f87e871f4b23759437f447cfb27dee906
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0154.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0154.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0154.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb88f8cec4c3defdfdb9390f856aafdf6a7b3b49
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0154.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0165.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0165.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..33da2ad958e03d2b7ef882791cbeed7aee19bbe2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0165.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0165.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0165.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2a8b70bdce4225f53bbb8322cc0bc16aaeb803
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0165.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0166.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0166.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe321b9edfde4b6d2fda4e23e556208028edba49
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0166.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0166.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0166.json
new file mode 100644
index 0000000000000000000000000000000000000000..64d9fbfe0658acecee41571de2d50cc824901339
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0166.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0167.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0167.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb8e53c409ee170100944164bc9b2e8a143564d6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0167.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0167.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0167.json
new file mode 100644
index 0000000000000000000000000000000000000000..65725fa3d503becf0c40a30525d805821331ebd6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0167.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0168.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0168.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dae891967ffa377c4a2904663ca3e46ba5b869b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0168.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0168.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0168.json
new file mode 100644
index 0000000000000000000000000000000000000000..212a4bb7c3eb32973a03ac863796b51387da2764
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0168.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0169.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0169.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a552508e3637c91522075ba9f3f36a6f90f8ac
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0169.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0169.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0169.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcc021c1a87010b2e7ca450110f41f8691d07596
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0169.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0180.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0180.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c242d141f400f73f2cdd07b8c3ddde2e42a7d0a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0180.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0180.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0180.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f7ab9c6238df951f99075924f01e79133f0325
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0180.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0181.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0181.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9450c88d32fba8486b0aaf2ba02c9654a5f409c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0181.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0181.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0181.json
new file mode 100644
index 0000000000000000000000000000000000000000..a680c05c2d0e19f09a1df2fcf1ad719d43d16dcb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0181.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0182.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0182.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3278ae439967e4def0c098c37bb59a30f7d1dafb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0182.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0182.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0182.json
new file mode 100644
index 0000000000000000000000000000000000000000..109fef572e6007fcec5988d23a065fa1d3cff818
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0182.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0183.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0183.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d328df97c599fa3013d6fa780295c1b4fc8367
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0183.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0183.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0183.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ab5284ccd6712786cdfa7d1736284951e0071ff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0183.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0184.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0184.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5782cef7ab9e32c975188f626430eadf52b0a2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0184.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0184.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0184.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0efa85dbe93bd1142ed0b0ddd42409c8d899a7b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0184.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0195.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0195.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7e4b79cbc5d94201ebf659a82235fe526848f53
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0195.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0195.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0195.json
new file mode 100644
index 0000000000000000000000000000000000000000..23369531e69f0867913578d172b1cdd7568dc325
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0195.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0196.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0196.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..259459290a86e87a10b7ad4b3a05ab21c307cf63
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0196.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0196.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0196.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f191ab7c82b5b260a3fce657eb7eaa2788ae5db
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0196.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0197.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0197.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..664affbaa6d44c91d8e95b4f5e758d748bf3c3e3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0197.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0197.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0197.json
new file mode 100644
index 0000000000000000000000000000000000000000..a33eb4fb3bee0e96dba10a6711ffa50b38bada77
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0197.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0198.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0198.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6e0defc5af67bcb487e730cd1a6c3f2c10e9452
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0198.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0198.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0198.json
new file mode 100644
index 0000000000000000000000000000000000000000..827a3d5c2d0636895923701e7f78134a0d104701
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0198.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0199.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0199.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa0fd02c5b2fcb4ff9c836e3f5a15f981dbd1b96
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0199.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0199.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0199.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6386ac7bbdb6f0f52aca5c0f54960234ae4c91d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0199.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0210.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0210.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc5f60933f823662d0e309ebe9577277707adc41
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0210.debug.json
@@ -0,0 +1 @@
+{"frame_index": 210, "state": {"door_angle": 0.7256814241409302, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.16419294476509094, -0.03396269306540489, 1.1865925788879395, 0.21080239117145538, 0.8815382122993469, 0.41115909814834595, 0.09695899486541748], "right_arm_pose": [0.2789579927921295, -0.46285519003868103, 1.0846664905548096, -0.5981971621513367, 0.5340853333473206, 0.5729553699493408, 0.1692192405462265], "left_arm_joint_positions": [-0.1603856086730957, -0.5644299983978271, -0.35858437418937683, -2.5187888145446777, 0.7271832227706909, 1.901381254196167, 0.6169511079788208], "right_arm_joint_positions": [1.7532737255096436, 0.39043688774108887, -1.0885815620422363, -2.126248359680176, -0.9707740545272827, 1.8357763290405273, -2.8961150646209717], "pregrasp_goal_pose": [0.2639424753339996, 0.18483587546019653, 1.0409302222456414, 0.1932938913223638, 0.7366273182779449, 0.625831519382354, 0.16838222855062732], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0210.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0210.json
new file mode 100644
index 0000000000000000000000000000000000000000..99bdf481de8a962f32c52fda650b91354d7cf11c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0210.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0211.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0211.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb16a12c50a6b461d06cd1a9d10c623cd75acbdf
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0211.debug.json
@@ -0,0 +1 @@
+{"frame_index": 211, "state": {"door_angle": 0.7259007692337036, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.16437989473342896, -0.03337198495864868, 1.1860991716384888, 0.21080802381038666, 0.8812350630760193, 0.4118170738220215, 0.0969097912311554], "right_arm_pose": [0.2788638174533844, -0.4632870852947235, 1.0851178169250488, -0.5985567569732666, 0.5338059067726135, 0.572935938835144, 0.16889488697052002], "left_arm_joint_positions": [-0.15949225425720215, -0.564028263092041, -0.35839006304740906, -2.520317554473877, 0.729375958442688, 1.9028427600860596, 0.6161009073257446], "right_arm_joint_positions": [1.7530107498168945, 0.38953280448913574, -1.08787202835083, -2.125185489654541, -0.9715524911880493, 1.8353016376495361, -2.896920919418335], "pregrasp_goal_pose": [0.263942489111724, 0.1848360155545582, 1.040929645474784, 0.1932962651759032, 0.7366220218857628, 0.625837709134464, 0.16837966791541048], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0211.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0211.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d506d89032a30359ea455102a6ac284788a633b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0211.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0212.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0212.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..867d7e26e8250f0270efa2de2528c1bcd4647405
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0212.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0212.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0212.json
new file mode 100644
index 0000000000000000000000000000000000000000..b36034c3269ff3689d515869e1f15dcf6c1af017
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0212.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0213.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0213.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9a5fcf9ba7a2155a372f09e96e81862c6a341d3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0213.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0213.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0213.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b15cb15127124c621f3250a515923e56bf96cee
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0213.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0214.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0214.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f53e156ff4e71162e02fcd26c8718d8ae0b3a0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0214.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0214.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0214.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c9b6b065df57a61e1126336909f73e3bc3d2402
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0214.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0225.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0225.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d41c3459a51d2b6929d11ec24e6578c5a420f71
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0225.debug.json
@@ -0,0 +1 @@
+{"frame_index": 225, "state": {"door_angle": 0.7210913896560669, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.19732216000556946, 0.049079280346632004, 1.1408666372299194, 0.1978701800107956, 0.8315989971160889, 0.5052038431167603, 0.11857306957244873], "right_arm_pose": [0.27888283133506775, -0.46351534128189087, 1.0852172374725342, -0.598770260810852, 0.5335456132888794, 0.5729671120643616, 0.16885556280612946], "left_arm_joint_positions": [-0.0020895004272460938, -0.4952857494354248, -0.34170839190483093, -2.6528167724609375, 1.1009284257888794, 2.084397077560425, 0.41201627254486084], "right_arm_joint_positions": [1.7528479099273682, 0.38924336433410645, -1.0872552394866943, -2.125, -0.9718829393386841, 1.8350820541381836, -2.897318124771118], "pregrasp_goal_pose": [0.26394242757164177, 0.18483554045720213, 1.0409308216124749, 0.1932963172736077, 0.7366264882358066, 0.6258324827570932, 0.16837949425015075], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0225.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0225.json
new file mode 100644
index 0000000000000000000000000000000000000000..b99eaac2dd1c6d66ca07a79b8bbccaa40be22852
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0225.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0226.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0226.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b8b12678e5c0228d32281c2adbaf9d592f55406
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0226.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0226.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0226.json
new file mode 100644
index 0000000000000000000000000000000000000000..57152ab1923c570f9fd96249ec4f18d259f04751
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0226.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0227.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0227.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a98a26362395b04ae2180c7610ee4c9a0b13d5d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0227.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0227.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0227.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e2561f8af2efc0467e40354c2ec3181a836f3c4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0227.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0228.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0228.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e5f2163be32e85d5eee3d5d8e4143d9a6aef0d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0228.debug.json
@@ -0,0 +1 @@
+{"frame_index": 228, "state": {"door_angle": 0.7109907865524292, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.20558473467826843, 0.06958232820034027, 1.1298614740371704, 0.19465215504169464, 0.8172858357429504, 0.527999758720398, 0.12397847324609756], "right_arm_pose": [0.2788811922073364, -0.46349358558654785, 1.0851960182189941, -0.5987533926963806, 0.5335759520530701, 0.5729506611824036, 0.16887521743774414], "left_arm_joint_positions": [0.04310464859008789, -0.4593808650970459, -0.34094545245170593, -2.667686939239502, 1.2136179208755493, 2.110295295715332, 0.3368438482284546], "right_arm_joint_positions": [1.752847671508789, 0.3892216682434082, -1.0873167514801025, -2.125119209289551, -0.9718412160873413, 1.8350439071655273, -2.8973076343536377], "pregrasp_goal_pose": [0.26394410381995626, 0.18483402594275328, 1.040930803834722, 0.19329728275552094, 0.7366244493321685, 0.6258349423979477, 0.1683781636649164], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0228.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0228.json
new file mode 100644
index 0000000000000000000000000000000000000000..08bee3a82158f3c2555bd0867196daec244a8f0f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0228.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0229.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0229.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..92bc057a30d40f4c397daab0baddc73f27b63011
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0229.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0229.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0229.json
new file mode 100644
index 0000000000000000000000000000000000000000..92b1006dfe77b476ff1d6242ccadc41971de9e03
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0229.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0240.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0240.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae958eb66b2a42d348ecc39afd0778f7bde0167
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0240.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0240.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0240.json
new file mode 100644
index 0000000000000000000000000000000000000000..06a764d6b010ab5d307c61ce4be28375880ca31c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0240.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0241.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0241.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f517a5a548003d54e08354da598aef3c55b894dd
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0241.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0241.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0241.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7d167f6076e8e84c6d52a1dc6f71c86b3d6cb64
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0241.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0242.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0242.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..db03579daa6884e0fe64b43b571bc9d44596bce0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0242.debug.json
@@ -0,0 +1 @@
+{"frame_index": 242, "state": {"door_angle": 0.7179588079452515, "tray_height": 1.0474821329116821, "tray_grasped_left": false, "left_arm_pose": [0.24149763584136963, 0.1574612855911255, 1.082162618637085, 0.17938365042209625, 0.749107301235199, 0.6205198168754578, 0.14702032506465912], "right_arm_pose": [0.2788843810558319, -0.46349775791168213, 1.0851809978485107, -0.5987838506698608, 0.5335336923599243, 0.5729501843452454, 0.16890205442905426], "left_arm_joint_positions": [0.2077481746673584, -0.21807193756103516, -0.3316144645214081, -2.654646873474121, 1.7197407484054565, 2.0575146675109863, -0.03230631351470947], "right_arm_joint_positions": [1.7528717517852783, 0.38929104804992676, -1.087254285812378, -2.125178813934326, -0.9718915224075317, 1.835007905960083, -2.8973097801208496], "pregrasp_goal_pose": [0.26394252393437745, 0.18483232580840586, 1.0409325164234655, 0.1933005376355321, 0.7366272000957489, 0.6258315933485504, 0.16837484074447304], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0242.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0242.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5b83f9604ea1778f30efebec3dbea005bcf9f71
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0242.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0243.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0243.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e4eeb6a637ccad9e2850bda233df1db07452ec2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0243.debug.json
@@ -0,0 +1 @@
+{"frame_index": 243, "state": {"door_angle": 0.7001229524612427, "tray_height": 1.0474824905395508, "tray_grasped_left": false, "left_arm_pose": [0.2460966855287552, 0.15925690531730652, 1.0756890773773193, 0.18422654271125793, 0.7486909627914429, 0.6179694533348083, 0.153741255402565], "right_arm_pose": [0.2788815200328827, -0.4634937047958374, 1.0851848125457764, -0.5987510681152344, 0.5335677266120911, 0.57296222448349, 0.16887028515338898], "left_arm_joint_positions": [0.2164158821105957, -0.197587251663208, -0.3298296630382538, -2.6495532989501953, 1.7514508962631226, 2.072269916534424, -0.056771159172058105], "right_arm_joint_positions": [1.7528541088104248, 0.3892693519592285, -1.0873799324035645, -2.125103235244751, -0.9718693494796753, 1.8350439071655273, -2.8973166942596436], "pregrasp_goal_pose": [0.26394234926755056, 0.18483518832663798, 1.0409321491726342, 0.19329870546793754, 0.7366268481096238, 0.6258320773085692, 0.16837668520356905], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0243.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0243.json
new file mode 100644
index 0000000000000000000000000000000000000000..a474ba97a1db8fc42f0bece5f5e8d07dc14bcbc3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0243.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0244.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0244.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a02cebc7cf5f84ba95e48e21cb1ae5913b1edf2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0244.debug.json
@@ -0,0 +1 @@
+{"frame_index": 244, "state": {"door_angle": 0.6812359094619751, "tray_height": 1.0474823713302612, "tray_grasped_left": false, "left_arm_pose": [0.25235453248023987, 0.1561334729194641, 1.0638564825057983, 0.19754250347614288, 0.7537022233009338, 0.604854941368103, 0.16450054943561554], "right_arm_pose": [0.2788868248462677, -0.46346479654312134, 1.0851786136627197, -0.5987280011177063, 0.5335811972618103, 0.5729671716690063, 0.16889262199401855], "left_arm_joint_positions": [0.2248244285583496, -0.17499160766601562, -0.32722827792167664, -2.6445813179016113, 1.7848416566848755, 2.1162285804748535, -0.08090436458587646], "right_arm_joint_positions": [1.7528705596923828, 0.3892707824707031, -1.08736252784729, -2.1251678466796875, -0.9718719720840454, 1.8350372314453125, -2.8972957134246826], "pregrasp_goal_pose": [0.26394359552909685, 0.18483337813428247, 1.0409306899682442, 0.19329651787647048, 0.7366248752690135, 0.6258344930199363, 0.16837884860700567], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0244.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0244.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a3ad46022b29b4e36d528f17911870f04330752
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0244.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0245.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0245.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..60ed4c4107bf135bcfeb6239f19a78c2e4c3d0f2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0245.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0245.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0245.json
new file mode 100644
index 0000000000000000000000000000000000000000..46e68c30d8f3034e72723c39e13ba8558973180e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0245.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0246.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0246.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..66b377d5a34e96936a5d1eeebcfe936203e7822a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0246.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0246.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0246.json
new file mode 100644
index 0000000000000000000000000000000000000000..4872e5a438a5b9b65038693e79861446be8d6f51
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0246.json
@@ -0,0 +1 @@
+{"frame_index": 246, "time_norm": 0.727810650887574, "door_angle": 0.6319676637649536, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.27886927127838135, "right_arm_pose_y": -0.4634646773338318, "right_arm_pose_z": 1.0851770639419556, "right_arm_pose_qx": -0.5987321138381958, "right_arm_pose_qy": 0.5335678458213806, "right_arm_pose_qz": 0.5729706287384033, "right_arm_pose_qw": 0.16890805959701538, "left_arm_pose_x": 0.2628278136253357, "left_arm_pose_y": 0.1486572027206421, "left_arm_pose_z": 1.038508415222168, "left_arm_pose_qx": 0.2248838245868683, "left_arm_pose_qy": 0.7649725675582886, "left_arm_pose_qz": 0.5750561952590942, "left_arm_pose_qw": 0.18317921459674835, "tray_height": 1.0474821329116821, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8704885444774011, "pregrasp_distance": 0.03627349466074393, "pregrasp_position_error": 0.03627349466074393, "pregrasp_orientation_error_deg": 7.772171268050927, "p_pre": 0.48987937258751657, "p_ext": 0.0007335344950358067, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.48987937258751657, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.1744741109614456, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.04093444347381592, "p_pre_door_quality": 0.5192145697964229, "p_pre_step_quality_mean": 0.44934621775334765, "p_pre_step_quality_min": 0.3338494369738077, "p_pre_step_quality_max": 0.5728633164832602, "p_pre_alignment_signed_mean": 0.36546048951769416, "p_pre_alignment_abs_mean": 0.36546048951769416, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24394267073237944, "p_pre_best_target_pose_y": 0.18483258533976715, "p_pre_best_target_pose_z": 1.0409302329060155, "p_pre_best_target_pose_qx": 0.1932942668102598, "p_pre_best_target_pose_qy": 0.7366270998256584, "p_pre_best_target_pose_qz": 0.6258316681181512, "p_pre_best_target_pose_qw": 0.16838220036920779, "p_ext_initial_height": 1.0474817752838135, "p_ext_final_height": 1.0474817752838135, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.802962962962963, "three_view_whole_tray_visibility": 0.6633663366336633, "full_view_visibility": 0.8905349794238683, "full_view_whole_tray_visibility": 0.6826025459688826, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.36666666666666664, "wrist_right_tray_visibility": 0.3333333333333333, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 33.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 40.0, "wrist_left_grasp_visibility": 0.6888888888888889, "wrist_left_tray_visibility": 0.49504950495049505, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 62.0, "wrist_left_tray_projected_count": 202.0, "wrist_left_tray_visible_count": 100.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.05714285714285714, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 12.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0255.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0255.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba044b64ff81d373022fe2f1e9348b63023e8ed3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0255.debug.json
@@ -0,0 +1 @@
+{"frame_index": 255, "state": {"door_angle": 0.5739980936050415, "tray_height": 1.0474498271942139, "tray_grasped_left": true, "left_arm_pose": [0.26921385526657104, 0.2251729816198349, 1.0460923910140991, 0.16553397476673126, 0.6890364289283752, 0.6863001585006714, 0.16376645863056183], "right_arm_pose": [0.2789002060890198, -0.4634639620780945, 1.0851099491119385, -0.5987632870674133, 0.5335181355476379, 0.5729693174362183, 0.16895902156829834], "left_arm_joint_positions": [0.2820134162902832, 0.029920339584350586, -0.29189011454582214, -2.58469820022583, 2.039865493774414, 1.8650617599487305, -0.2542992830276489], "right_arm_joint_positions": [1.7528738975524902, 0.38934946060180664, -1.0872769355773926, -2.125239372253418, -0.971838116645813, 1.8350555896759033, -2.897287130355835], "pregrasp_goal_pose": [0.26429325297985273, 0.18581093485131348, 1.0405843436987945, 0.192477556577791, 0.7362182508415731, 0.626513655480713, 0.1685696201508807], "pregrasp_position_error": 0.040048990472906554, "pregrasp_orientation_error_deg": 9.276365352743866}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.011111111111111112, "grasp_projected_count": 90, "grasp_visible_count": 1, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.2833333333333333, "tray_projected_count": 120, "tray_visible_count": 34}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.07777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 7, "tray_visibility": 0.06190476190476191, "tray_projected_count": 210, "tray_visible_count": 13}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0474498271942139, "final_height": 1.3544923067092896, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.588491960609629, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2785192305138863, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5136565411688951, "reliability": 1.0, "planner_score": 0.5041530490669384, "height_before": 1.0474498271942139, "height_after": 1.1358052492141724}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.074835419440734, "reliability": 1.0, "planner_score": 0.23856489897009178, "height_before": 1.1358052492141724, "height_after": 1.3544923067092896}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0255.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0255.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a5d06300b1d80344b0826b93fd484d89d14ed8
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0255.json
@@ -0,0 +1 @@
+{"frame_index": 255, "time_norm": 0.7544378698224852, "door_angle": 0.5739980936050415, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2789002060890198, "right_arm_pose_y": -0.4634639620780945, "right_arm_pose_z": 1.0851099491119385, "right_arm_pose_qx": -0.5987632870674133, "right_arm_pose_qy": 0.5335181355476379, "right_arm_pose_qz": 0.5729693174362183, "right_arm_pose_qw": 0.16895902156829834, "left_arm_pose_x": 0.26921385526657104, "left_arm_pose_y": 0.2251729816198349, "left_arm_pose_z": 1.0460923910140991, "left_arm_pose_qx": 0.16553397476673126, "left_arm_pose_qy": 0.6890364289283752, "left_arm_pose_qz": 0.6863001585006714, "left_arm_pose_qw": 0.16376645863056183, "tray_height": 1.0474498271942139, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8570084514129924, "pregrasp_distance": 0.040048990472906554, "pregrasp_position_error": 0.040048990472906554, "pregrasp_orientation_error_deg": 9.276365352743866, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474498271942139, "p_ext_final_height": 1.3544923067092896, "p_ext_total_length": 1.588491960609629, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2785192305138863, "three_view_visibility": 0.9707671957671957, "three_view_whole_tray_visibility": 0.3274358974358974, "full_view_visibility": 0.9733404043373179, "full_view_whole_tray_visibility": 0.3690708180708181, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.011111111111111112, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 1.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.8111111111111111, "wrist_right_tray_visibility": 0.2833333333333333, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 73.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 34.0, "wrist_left_grasp_visibility": 0.8452380952380952, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 71.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.07777777777777778, "over_shoulder_right_tray_visibility": 0.06190476190476191, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 7.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 13.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0256.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0256.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe372679014840b01479124a31e70ac032771d7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0256.debug.json
@@ -0,0 +1 @@
+{"frame_index": 256, "state": {"door_angle": 0.5736478567123413, "tray_height": 1.0476378202438354, "tray_grasped_left": true, "left_arm_pose": [0.2693248987197876, 0.22560656070709229, 1.0461931228637695, 0.16514191031455994, 0.6884179711341858, 0.6870074272155762, 0.16379758715629578], "right_arm_pose": [0.27887117862701416, -0.46348223090171814, 1.0851950645446777, -0.5987598896026611, 0.5335657000541687, 0.5729483366012573, 0.1688920557498932], "left_arm_joint_positions": [0.2822573184967041, 0.030924081802368164, -0.29167529940605164, -2.584183692932129, 2.041013240814209, 1.8630030155181885, -0.25505006313323975], "right_arm_joint_positions": [1.7528777122497559, 0.3892655372619629, -1.087357997894287, -2.1249606609344482, -0.9718579053878784, 1.8350720405578613, -2.8972911834716797], "pregrasp_goal_pose": [0.2644632945497728, 0.1862500913544211, 1.0406273188456119, 0.19239747510387215, 0.7356480140669429, 0.6272994033688946, 0.16822802830101383], "pregrasp_position_error": 0.040044288598777615, "pregrasp_orientation_error_deg": 9.282487089171685}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.2916666666666667, "tray_projected_count": 120, "tray_visible_count": 35}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.1, "grasp_projected_count": 90, "grasp_visible_count": 9, "tray_visibility": 0.07142857142857142, "tray_projected_count": 210, "tray_visible_count": 15}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0476378202438354, "final_height": 1.3548765182495117, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.5906610351278891, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2779722792161684, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5158329487114017, "reliability": 1.0, "planner_score": 0.5026921797253695, "height_before": 1.0476378202438354, "height_after": 1.1357295513153076}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0748280864164874, "reliability": 1.0, "planner_score": 0.2385672315177462, "height_before": 1.1357295513153076, "height_after": 1.3548765182495117}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0256.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0256.json
new file mode 100644
index 0000000000000000000000000000000000000000..0103748ab5dbe9d054c5ed0b6311cd658e233612
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0256.json
@@ -0,0 +1 @@
+{"frame_index": 256, "time_norm": 0.757396449704142, "door_angle": 0.5736478567123413, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27887117862701416, "right_arm_pose_y": -0.46348223090171814, "right_arm_pose_z": 1.0851950645446777, "right_arm_pose_qx": -0.5987598896026611, "right_arm_pose_qy": 0.5335657000541687, "right_arm_pose_qz": 0.5729483366012573, "right_arm_pose_qw": 0.1688920557498932, "left_arm_pose_x": 0.2693248987197876, "left_arm_pose_y": 0.22560656070709229, "left_arm_pose_z": 1.0461931228637695, "left_arm_pose_qx": 0.16514191031455994, "left_arm_pose_qy": 0.6884179711341858, "left_arm_pose_qz": 0.6870074272155762, "left_arm_pose_qw": 0.16379758715629578, "tray_height": 1.0476378202438354, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8570252371228215, "pregrasp_distance": 0.040044288598777615, "pregrasp_position_error": 0.040044288598777615, "pregrasp_orientation_error_deg": 9.282487089171685, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0476378202438354, "p_ext_final_height": 1.3548765182495117, "p_ext_total_length": 1.5906610351278891, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2779722792161684, "three_view_visibility": 0.9724867724867725, "three_view_whole_tray_visibility": 0.3352564102564103, "full_view_visibility": 0.9752380952380952, "full_view_whole_tray_visibility": 0.3827380952380952, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.8222222222222222, "wrist_right_tray_visibility": 0.2916666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 74.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 35.0, "wrist_left_grasp_visibility": 0.8452380952380952, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 71.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.1, "over_shoulder_right_tray_visibility": 0.07142857142857142, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 9.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 15.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0257.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0257.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a03f33007cdb21616e203f1c5eba0977e2a958
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0257.debug.json
@@ -0,0 +1 @@
+{"frame_index": 257, "state": {"door_angle": 0.5723594427108765, "tray_height": 1.0477473735809326, "tray_grasped_left": true, "left_arm_pose": [0.2690665125846863, 0.2253810316324234, 1.0461211204528809, 0.16506999731063843, 0.6882498264312744, 0.6872331500053406, 0.163629412651062], "right_arm_pose": [0.27888426184654236, -0.46345505118370056, 1.0851550102233887, -0.5987464785575867, 0.5335694551467896, 0.5729507803916931, 0.1689191609621048], "left_arm_joint_positions": [0.28165364265441895, 0.030603408813476562, -0.29224535822868347, -2.5850462913513184, 2.0400443077087402, 1.8617653846740723, -0.25500285625457764], "right_arm_joint_positions": [1.7528774738311768, 0.38927125930786133, -1.0874078273773193, -2.125154495239258, -0.9718462228775024, 1.8350224494934082, -2.8973186016082764], "pregrasp_goal_pose": [0.26417999972557704, 0.1860273692326342, 1.0404935851658963, 0.19206514692818946, 0.7351411500327066, 0.6279535863109901, 0.1683827850559799], "pregrasp_position_error": 0.04005318845741347, "pregrasp_orientation_error_deg": 9.215670178141128}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.3, "tray_projected_count": 120, "tray_visible_count": 36}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.06153846153846154, "tray_projected_count": 130, "tray_visible_count": 8}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.08888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 8, "tray_visibility": 0.06190476190476191, "tray_projected_count": 210, "tray_visible_count": 13}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0477473735809326, "final_height": 1.3550139665603638, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.591235286575754, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2777870958696063, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5167175549633353, "reliability": 1.0, "planner_score": 0.502099616390908, "height_before": 1.0477473735809326, "height_after": 1.1361263990402222}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0745177316124188, "reliability": 1.0, "planner_score": 0.23866597259470876, "height_before": 1.1361263990402222, "height_after": 1.3550139665603638}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0257.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0257.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc0141e2d6b733882893c76189e48748383a34a7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0257.json
@@ -0,0 +1 @@
+{"frame_index": 257, "time_norm": 0.7603550295857988, "door_angle": 0.5723594427108765, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27888426184654236, "right_arm_pose_y": -0.46345505118370056, "right_arm_pose_z": 1.0851550102233887, "right_arm_pose_qx": -0.5987464785575867, "right_arm_pose_qy": 0.5335694551467896, "right_arm_pose_qz": 0.5729507803916931, "right_arm_pose_qw": 0.1689191609621048, "left_arm_pose_x": 0.2690665125846863, "left_arm_pose_y": 0.2253810316324234, "left_arm_pose_z": 1.0461211204528809, "left_arm_pose_qx": 0.16506999731063843, "left_arm_pose_qy": 0.6882498264312744, "left_arm_pose_qz": 0.6872331500053406, "left_arm_pose_qw": 0.163629412651062, "tray_height": 1.0477473735809326, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8569934630186613, "pregrasp_distance": 0.04005318845741347, "pregrasp_position_error": 0.04005318845741347, "pregrasp_orientation_error_deg": 9.215670178141128, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0477473735809326, "p_ext_final_height": 1.3550139665603638, "p_ext_total_length": 1.591235286575754, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2777870958696063, "three_view_visibility": 0.9642857142857143, "three_view_whole_tray_visibility": 0.34307692307692317, "full_view_visibility": 0.9674603174603175, "full_view_whole_tray_visibility": 0.3837435897435898, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.8, "wrist_right_tray_visibility": 0.3, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 72.0, "wrist_right_tray_projected_count": 120.0, "wrist_right_tray_visible_count": 36.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.06153846153846154, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 130.0, "wrist_left_tray_visible_count": 8.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.08888888888888889, "over_shoulder_right_tray_visibility": 0.06190476190476191, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 8.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 13.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0258.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0258.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..29d0462c6612cb434c867577240bf543b2cd1dff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0258.debug.json
@@ -0,0 +1 @@
+{"frame_index": 258, "state": {"door_angle": 0.5686322450637817, "tray_height": 1.047856092453003, "tray_grasped_left": true, "left_arm_pose": [0.2682132124900818, 0.2235097587108612, 1.0461933612823486, 0.1651252806186676, 0.688262403011322, 0.6872563362121582, 0.16342343389987946], "right_arm_pose": [0.2788844704627991, -0.4634506106376648, 1.085195779800415, -0.5987563729286194, 0.5335763692855835, 0.5729377269744873, 0.16890636086463928], "left_arm_joint_positions": [0.27915525436401367, 0.027582883834838867, -0.29473111033439636, -2.588212013244629, 2.035174608230591, 1.8595783710479736, -0.2540639638900757], "right_arm_joint_positions": [1.7528469562530518, 0.3891589641571045, -1.0873961448669434, -2.1251156330108643, -0.9718810319900513, 1.835050344467163, -2.8973395824432373], "pregrasp_goal_pose": [0.26337306252302595, 0.18416166295584066, 1.0407220045974273, 0.19231493536348013, 0.7351392156186289, 0.6280178435728629, 0.16786568276410296], "pregrasp_position_error": 0.04002043771903913, "pregrasp_orientation_error_deg": 9.216704054069911}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.06666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 6, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.34710743801652894, "tray_projected_count": 121, "tray_visible_count": 42}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.08888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 8, "tray_visibility": 0.12857142857142856, "tray_projected_count": 210, "tray_visible_count": 27}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.047856092453003, "final_height": 1.355591058731079, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.5917565631151924, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2776973405999055, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5169268285829164, "reliability": 1.0, "planner_score": 0.5019595343299871, "height_before": 1.047856092453003, "height_after": 1.136041283607483}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0748297345322761, "reliability": 1.0, "planner_score": 0.23856670726976095, "height_before": 1.136041283607483, "height_after": 1.355591058731079}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0258.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0258.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8df7c473281d50c74c30237d0e444c2cc0b06ab
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0258.json
@@ -0,0 +1 @@
+{"frame_index": 258, "time_norm": 0.7633136094674556, "door_angle": 0.5686322450637817, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788844704627991, "right_arm_pose_y": -0.4634506106376648, "right_arm_pose_z": 1.085195779800415, "right_arm_pose_qx": -0.5987563729286194, "right_arm_pose_qy": 0.5335763692855835, "right_arm_pose_qz": 0.5729377269744873, "right_arm_pose_qw": 0.16890636086463928, "left_arm_pose_x": 0.2682132124900818, "left_arm_pose_y": 0.2235097587108612, "left_arm_pose_z": 1.0461933612823486, "left_arm_pose_qx": 0.1651252806186676, "left_arm_pose_qy": 0.688262403011322, "left_arm_pose_qz": 0.6872563362121582, "left_arm_pose_qw": 0.16342343389987946, "tray_height": 1.047856092453003, "tray_grasped_left": 1.0, "pregrasp_progress": 0.857110390900461, "pregrasp_distance": 0.04002043771903913, "pregrasp_position_error": 0.04002043771903913, "pregrasp_orientation_error_deg": 9.216704054069911, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.047856092453003, "p_ext_final_height": 1.355591058731079, "p_ext_total_length": 1.5917565631151924, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2776973405999055, "three_view_visibility": 0.9603174603174603, "three_view_whole_tray_visibility": 0.4228051263624385, "full_view_visibility": 0.9662551440329218, "full_view_whole_tray_visibility": 0.49701589583012495, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.06666666666666667, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 6.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.7777777777777778, "wrist_right_tray_visibility": 0.34710743801652894, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 70.0, "wrist_right_tray_projected_count": 121.0, "wrist_right_tray_visible_count": 42.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.08888888888888889, "over_shoulder_right_tray_visibility": 0.12857142857142856, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 8.0, "over_shoulder_right_tray_projected_count": 210.0, "over_shoulder_right_tray_visible_count": 27.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0259.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0259.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..862d721210ec1748569dfcac35530bdcc8b16f16
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0259.debug.json
@@ -0,0 +1 @@
+{"frame_index": 259, "state": {"door_angle": 0.5619169473648071, "tray_height": 1.0480386018753052, "tray_grasped_left": true, "left_arm_pose": [0.26676011085510254, 0.2194785475730896, 1.04655921459198, 0.16524295508861542, 0.6883558034896851, 0.6871662139892578, 0.16329026222229004], "right_arm_pose": [0.27889198064804077, -0.46347948908805847, 1.0851818323135376, -0.5987519025802612, 0.5335666537284851, 0.572955846786499, 0.16889144480228424], "left_arm_joint_positions": [0.27399587631225586, 0.021773576736450195, -0.2998902499675751, -2.5942182540893555, 2.02504825592041, 1.8555729389190674, -0.25202929973602295], "right_arm_joint_positions": [1.7528541088104248, 0.38929319381713867, -1.0872960090637207, -2.125162124633789, -0.9718865156173706, 1.8350465297698975, -2.897307872772217], "pregrasp_goal_pose": [0.261878088731179, 0.1801268347276392, 1.0412396164043218, 0.19296268512873524, 0.7354855041772301, 0.6276080807098899, 0.16713638838003625], "pregrasp_position_error": 0.0400086186810717, "pregrasp_orientation_error_deg": 9.27776733675893}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.07777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 7, "tray_visibility": 0.0472972972972973, "tray_projected_count": 296, "tray_visible_count": 14}, "wrist_right": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.36885245901639346, "tray_projected_count": 122, "tray_visible_count": 45}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.14444444444444443, "grasp_projected_count": 90, "grasp_visible_count": 13, "tray_visibility": 0.16587677725118483, "tray_projected_count": 211, "tray_visible_count": 35}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0480386018753052, "final_height": 1.3548978567123413, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.5918609133520518, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.27764855355885576, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5172028792916971, "reliability": 1.0, "planner_score": 0.5017748132800156, "height_before": 1.0480386018753052, "height_after": 1.1358762979507446}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0746580340603549, "reliability": 1.0, "planner_score": 0.23862132954359974, "height_before": 1.1358762979507446, "height_after": 1.3548978567123413}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0259.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0259.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0147e59a3a4b128e30fd10041ee064c39e32fec
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0259.json
@@ -0,0 +1 @@
+{"frame_index": 259, "time_norm": 0.7662721893491125, "door_angle": 0.5619169473648071, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27889198064804077, "right_arm_pose_y": -0.46347948908805847, "right_arm_pose_z": 1.0851818323135376, "right_arm_pose_qx": -0.5987519025802612, "right_arm_pose_qy": 0.5335666537284851, "right_arm_pose_qz": 0.572955846786499, "right_arm_pose_qw": 0.16889144480228424, "left_arm_pose_x": 0.26676011085510254, "left_arm_pose_y": 0.2194785475730896, "left_arm_pose_z": 1.04655921459198, "left_arm_pose_qx": 0.16524295508861542, "left_arm_pose_qy": 0.6883558034896851, "left_arm_pose_qz": 0.6871662139892578, "left_arm_pose_qw": 0.16329026222229004, "tray_height": 1.0480386018753052, "tray_grasped_left": 1.0, "pregrasp_progress": 0.857152603217972, "pregrasp_distance": 0.0400086186810717, "pregrasp_position_error": 0.0400086186810717, "pregrasp_orientation_error_deg": 9.27776733675893, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0480386018753052, "p_ext_final_height": 1.3548978567123413, "p_ext_total_length": 1.5918609133520518, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.27764855355885576, "three_view_visibility": 0.9642857142857143, "three_view_whole_tray_visibility": 0.44202898550724645, "full_view_visibility": 0.971820987654321, "full_view_whole_tray_visibility": 0.5565963655804991, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.07777777777777778, "overhead_tray_visibility": 0.0472972972972973, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 7.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 14.0, "wrist_right_grasp_visibility": 0.8, "wrist_right_tray_visibility": 0.36885245901639346, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 72.0, "wrist_right_tray_projected_count": 122.0, "wrist_right_tray_visible_count": 45.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.14444444444444443, "over_shoulder_right_tray_visibility": 0.16587677725118483, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 13.0, "over_shoulder_right_tray_projected_count": 211.0, "over_shoulder_right_tray_visible_count": 35.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0260.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0260.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..afff6544c5e1aec13db27185693976c42f1392d3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0260.debug.json
@@ -0,0 +1 @@
+{"frame_index": 260, "state": {"door_angle": 0.552367091178894, "tray_height": 1.0486938953399658, "tray_grasped_left": true, "left_arm_pose": [0.2645564079284668, 0.21296869218349457, 1.0474364757537842, 0.165388286113739, 0.6883916854858398, 0.6870994567871094, 0.1632726788520813], "right_arm_pose": [0.27887269854545593, -0.4634321928024292, 1.085147738456726, -0.5987522006034851, 0.5335874557495117, 0.5729292631149292, 0.16891498863697052], "left_arm_joint_positions": [0.2657179832458496, 0.012030601501464844, -0.3082835376262665, -2.6032252311706543, 2.0088613033294678, 1.8494000434875488, -0.24869096279144287], "right_arm_joint_positions": [1.752854585647583, 0.3892350196838379, -1.0874278545379639, -2.125307321548462, -0.9718776941299438, 1.8350574970245361, -2.8972809314727783], "pregrasp_goal_pose": [0.2596513546671799, 0.17366336706603422, 1.0421265068207228, 0.1935323978433275, 0.7356201476168154, 0.6274241623694632, 0.16657469759901772], "pregrasp_position_error": 0.039964533028116284, "pregrasp_orientation_error_deg": 9.308256171333309}, "visibility": {"best_grasp_visibility_camera": "wrist_left", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.4444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 40, "tray_visibility": 0.06756756756756757, "tray_projected_count": 296, "tray_visible_count": 20}, "wrist_right": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.27049180327868855, "tray_projected_count": 122, "tray_visible_count": 33}, "wrist_left": {"grasp_visibility": 0.7857142857142857, "grasp_projected_count": 84, "grasp_visible_count": 66, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "over_shoulder_right": {"grasp_visibility": 0.14444444444444443, "grasp_projected_count": 90, "grasp_visible_count": 13, "tray_visibility": 0.2383177570093458, "tray_projected_count": 214, "tray_visible_count": 51}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0486938953399658, "final_height": 1.3523844480514526, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.593149438327427, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.27733779028236993, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.518398136292326, "reliability": 1.0, "planner_score": 0.5009757836685387, "height_before": 1.0486938953399658, "height_after": 1.1351268291473389}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.074751302035101, "reliability": 1.0, "planner_score": 0.23859165708444777, "height_before": 1.1351268291473389, "height_after": 1.3523844480514526}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0260.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0260.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c1869d98dd8d49333afd7a9f6f1b1eecdf119d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0260.json
@@ -0,0 +1 @@
+{"frame_index": 260, "time_norm": 0.7692307692307693, "door_angle": 0.552367091178894, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27887269854545593, "right_arm_pose_y": -0.4634321928024292, "right_arm_pose_z": 1.085147738456726, "right_arm_pose_qx": -0.5987522006034851, "right_arm_pose_qy": 0.5335874557495117, "right_arm_pose_qz": 0.5729292631149292, "right_arm_pose_qw": 0.16891498863697052, "left_arm_pose_x": 0.2645564079284668, "left_arm_pose_y": 0.21296869218349457, "left_arm_pose_z": 1.0474364757537842, "left_arm_pose_qx": 0.165388286113739, "left_arm_pose_qy": 0.6883916854858398, "left_arm_pose_qz": 0.6870994567871094, "left_arm_pose_qw": 0.1632726788520813, "tray_height": 1.0486938953399658, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8573099973157495, "pregrasp_distance": 0.039964533028116284, "pregrasp_position_error": 0.039964533028116284, "pregrasp_orientation_error_deg": 9.308256171333309, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0486938953399658, "p_ext_final_height": 1.3523844480514526, "p_ext_total_length": 1.593149438327427, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.27733779028236993, "three_view_visibility": 0.95, "three_view_whole_tray_visibility": 0.3827238335435057, "full_view_visibility": 0.9762345679012345, "full_view_whole_tray_visibility": 0.561599833030046, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.4444444444444444, "overhead_tray_visibility": 0.06756756756756757, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 40.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 20.0, "wrist_right_grasp_visibility": 0.7666666666666667, "wrist_right_tray_visibility": 0.27049180327868855, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 69.0, "wrist_right_tray_projected_count": 122.0, "wrist_right_tray_visible_count": 33.0, "wrist_left_grasp_visibility": 0.7857142857142857, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 66.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.14444444444444443, "over_shoulder_right_tray_visibility": 0.2383177570093458, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 13.0, "over_shoulder_right_tray_projected_count": 214.0, "over_shoulder_right_tray_visible_count": 51.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0261.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0261.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..91e618d31c1b9735062cdeaabb23694f4c870d0f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0261.debug.json
@@ -0,0 +1 @@
+{"frame_index": 261, "state": {"door_angle": 0.5399795770645142, "tray_height": 1.0500646829605103, "tray_grasped_left": true, "left_arm_pose": [0.2614874243736267, 0.20403730869293213, 1.0487526655197144, 0.16544084250926971, 0.6884443163871765, 0.6870356798171997, 0.163266122341156], "right_arm_pose": [0.2788742184638977, -0.4634241759777069, 1.0851688385009766, -0.5987498164176941, 0.5336079597473145, 0.5729151964187622, 0.16890664398670197], "left_arm_joint_positions": [0.2540895938873291, -0.0006458759307861328, -0.31981512904167175, -2.6148910522460938, 1.9860408306121826, 1.840721607208252, -0.24394738674163818], "right_arm_joint_positions": [1.7528572082519531, 0.38915085792541504, -1.0874369144439697, -2.1252622604370117, -0.9718626737594604, 1.835054874420166, -2.897317886352539], "pregrasp_goal_pose": [0.25660491588032397, 0.1646618422404719, 1.0432500640474993, 0.19295871291698735, 0.7354970275857647, 0.6275600760456767, 0.1672704650423059], "pregrasp_position_error": 0.04005677059496956, "pregrasp_orientation_error_deg": 9.25863156032011}, "visibility": {"best_grasp_visibility_camera": "wrist_right", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.10810810810810811, "tray_projected_count": 296, "tray_visible_count": 32}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.3770491803278688, "tray_projected_count": 122, "tray_visible_count": 46}, "wrist_left": {"grasp_visibility": 0.7752808988764045, "grasp_projected_count": 89, "grasp_visible_count": 69, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.36666666666666664, "grasp_projected_count": 90, "grasp_visible_count": 33, "tray_visibility": 0.08108108108108109, "tray_projected_count": 296, "tray_visible_count": 24}, "over_shoulder_right": {"grasp_visibility": 0.26666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 24, "tray_visibility": 0.2825112107623318, "tray_projected_count": 223, "tray_visible_count": 63}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0500646829605103, "final_height": 1.3547245264053345, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.597125243725894, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.27637151770893786, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5221662460897767, "reliability": 1.0, "planner_score": 0.4984651202417287, "height_before": 1.0500646829605103, "height_after": 1.13582181930542}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749589976361174, "reliability": 1.0, "planner_score": 0.2385255936487724, "height_before": 1.13582181930542, "height_after": 1.3547245264053345}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0261.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0261.json
new file mode 100644
index 0000000000000000000000000000000000000000..98f8dc26a9860318216a28a9fb835ef02a93ec08
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0261.json
@@ -0,0 +1 @@
+{"frame_index": 261, "time_norm": 0.772189349112426, "door_angle": 0.5399795770645142, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788742184638977, "right_arm_pose_y": -0.4634241759777069, "right_arm_pose_z": 1.0851688385009766, "right_arm_pose_qx": -0.5987498164176941, "right_arm_pose_qy": 0.5336079597473145, "right_arm_pose_qz": 0.5729151964187622, "right_arm_pose_qw": 0.16890664398670197, "left_arm_pose_x": 0.2614874243736267, "left_arm_pose_y": 0.20403730869293213, "left_arm_pose_z": 1.0487526655197144, "left_arm_pose_qx": 0.16544084250926971, "left_arm_pose_qy": 0.6884443163871765, "left_arm_pose_qz": 0.6870356798171997, "left_arm_pose_qw": 0.163266122341156, "tray_height": 1.0500646829605103, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8569806788465314, "pregrasp_distance": 0.04005677059496956, "pregrasp_position_error": 0.04005677059496956, "pregrasp_orientation_error_deg": 9.25863156032011, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0500646829605103, "p_ext_final_height": 1.3547245264053345, "p_ext_total_length": 1.597125243725894, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.27637151770893786, "three_view_visibility": 0.9500624219725343, "three_view_whole_tray_visibility": 0.47167462129072424, "full_view_visibility": 0.9927843282316857, "full_view_whole_tray_visibility": 0.6893252186110473, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.6888888888888889, "overhead_tray_visibility": 0.10810810810810811, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 62.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 32.0, "wrist_right_grasp_visibility": 0.7777777777777778, "wrist_right_tray_visibility": 0.3770491803278688, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 70.0, "wrist_right_tray_projected_count": 122.0, "wrist_right_tray_visible_count": 46.0, "wrist_left_grasp_visibility": 0.7752808988764045, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 89.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.36666666666666664, "over_shoulder_left_tray_visibility": 0.08108108108108109, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 33.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 24.0, "over_shoulder_right_grasp_visibility": 0.26666666666666666, "over_shoulder_right_tray_visibility": 0.2825112107623318, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 24.0, "over_shoulder_right_tray_projected_count": 223.0, "over_shoulder_right_tray_visible_count": 63.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0262.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0262.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e11fe6a1b01841a0c58105b3c851d44591a9164
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0262.debug.json
@@ -0,0 +1 @@
+{"frame_index": 262, "state": {"door_angle": 0.5265895128250122, "tray_height": 1.0518362522125244, "tray_grasped_left": true, "left_arm_pose": [0.2578381896018982, 0.19300997257232666, 1.0505421161651611, 0.16549448668956757, 0.6884241700172424, 0.6870142817497253, 0.16338637471199036], "right_arm_pose": [0.27890974283218384, -0.4634026885032654, 1.0851306915283203, -0.5987688899040222, 0.5335686206817627, 0.572913646697998, 0.1689690500497818], "left_arm_joint_positions": [0.23950672149658203, -0.015909433364868164, -0.3344537913799286, -2.6282095909118652, 1.9577054977416992, 1.8300368785858154, -0.23788583278656006], "right_arm_joint_positions": [1.7528729438781738, 0.3891618251800537, -1.087336540222168, -2.125328302383423, -0.9718400239944458, 1.8350284099578857, -2.897341728210449], "pregrasp_goal_pose": [0.2529405141769324, 0.15364347986691573, 1.045311155442905, 0.1936660500742435, 0.7356963405699526, 0.6272786094370195, 0.16663103451452327], "pregrasp_position_error": 0.04001338429289968, "pregrasp_orientation_error_deg": 9.317086257511841}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "wrist_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.1554054054054054, "tray_projected_count": 296, "tray_visible_count": 46}, "wrist_right": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.3951612903225806, "tray_projected_count": 124, "tray_visible_count": 49}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.13513513513513514, "tray_projected_count": 296, "tray_visible_count": 40}, "over_shoulder_right": {"grasp_visibility": 0.23333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 21, "tray_visibility": 0.3377777777777778, "tray_projected_count": 225, "tray_visible_count": 76}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0518362522125244, "final_height": 1.3641400337219238, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6051698726481884, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.27438311446760627, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.530164805474224, "reliability": 1.0, "planner_score": 0.4931773628333415, "height_before": 1.0518362522125244, "height_after": 1.1354076862335205}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750050671739646, "reliability": 1.0, "planner_score": 0.23851094241360857, "height_before": 1.1354076862335205, "height_after": 1.3641400337219238}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0262.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0262.json
new file mode 100644
index 0000000000000000000000000000000000000000..107ad5ba870832d7f6cf20460493dbf07f115f67
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0262.json
@@ -0,0 +1 @@
+{"frame_index": 262, "time_norm": 0.7751479289940828, "door_angle": 0.5265895128250122, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27890974283218384, "right_arm_pose_y": -0.4634026885032654, "right_arm_pose_z": 1.0851306915283203, "right_arm_pose_qx": -0.5987688899040222, "right_arm_pose_qy": 0.5335686206817627, "right_arm_pose_qz": 0.572913646697998, "right_arm_pose_qw": 0.1689690500497818, "left_arm_pose_x": 0.2578381896018982, "left_arm_pose_y": 0.19300997257232666, "left_arm_pose_z": 1.0505421161651611, "left_arm_pose_qx": 0.16549448668956757, "left_arm_pose_qy": 0.6884241700172424, "left_arm_pose_qz": 0.6870142817497253, "left_arm_pose_qw": 0.16338637471199036, "tray_height": 1.0518362522125244, "tray_grasped_left": 1.0, "pregrasp_progress": 0.85713558102123, "pregrasp_distance": 0.04001338429289968, "pregrasp_position_error": 0.04001338429289968, "pregrasp_orientation_error_deg": 9.317086257511841, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0518362522125244, "p_ext_final_height": 1.3641400337219238, "p_ext_total_length": 1.6051698726481884, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.27438311446760627, "three_view_visibility": 0.9506172839506173, "three_view_whole_tray_visibility": 0.48703552470396083, "full_view_visibility": 0.9984108113600569, "full_view_whole_tray_visibility": 0.7518652485379114, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.8888888888888888, "overhead_tray_visibility": 0.1554054054054054, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 80.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 46.0, "wrist_right_grasp_visibility": 0.7777777777777778, "wrist_right_tray_visibility": 0.3951612903225806, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 70.0, "wrist_right_tray_projected_count": 124.0, "wrist_right_tray_visible_count": 49.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.6222222222222222, "over_shoulder_left_tray_visibility": 0.13513513513513514, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 56.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 40.0, "over_shoulder_right_grasp_visibility": 0.23333333333333334, "over_shoulder_right_tray_visibility": 0.3377777777777778, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 21.0, "over_shoulder_right_tray_projected_count": 225.0, "over_shoulder_right_tray_visible_count": 76.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0263.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0263.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..da4e9a7241cd6babdc446db9ada403a9266563e1
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0263.debug.json
@@ -0,0 +1 @@
+{"frame_index": 263, "state": {"door_angle": 0.5118321180343628, "tray_height": 1.0539252758026123, "tray_grasped_left": true, "left_arm_pose": [0.2537005543708801, 0.18091237545013428, 1.0524778366088867, 0.16554920375347137, 0.6883858442306519, 0.6870120167732239, 0.163502037525177], "right_arm_pose": [0.2789062261581421, -0.46342235803604126, 1.0851268768310547, -0.5987511277198792, 0.5335555076599121, 0.5729466676712036, 0.1689608097076416], "left_arm_joint_positions": [0.22313523292541504, -0.03234744071960449, -0.3507685363292694, -2.6417417526245117, 1.9260540008544922, 1.8182685375213623, -0.23109519481658936], "right_arm_joint_positions": [1.752856731414795, 0.38927650451660156, -1.0873463153839111, -2.125258207321167, -0.9718714952468872, 1.8350298404693604, -2.897279977798462], "pregrasp_goal_pose": [0.24879225001327945, 0.14158414391136676, 1.0473609937445676, 0.19368490415018275, 0.7356462627739769, 0.6272783633756979, 0.16683101873369183], "pregrasp_position_error": 0.039962273815836405, "pregrasp_orientation_error_deg": 9.315098521332578}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.20945945945945946, "tray_projected_count": 296, "tray_visible_count": 62}, "wrist_right": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.3968253968253968, "tray_projected_count": 126, "tray_visible_count": 50}, "wrist_left": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 75, "tray_visibility": 0.16216216216216217, "tray_projected_count": 296, "tray_visible_count": 48}, "over_shoulder_right": {"grasp_visibility": 0.24444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 22, "tray_visibility": 0.3974358974358974, "tray_projected_count": 234, "tray_visible_count": 93}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0539252758026123, "final_height": 1.3631483316421509, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6182109621043375, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2711947419286707, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5432090177942376, "reliability": 1.0, "planner_score": 0.4846740429445078, "height_before": 1.0539252758026123, "height_after": 1.135366678237915}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750019443100998, "reliability": 1.0, "planner_score": 0.2385119355319474, "height_before": 1.135366678237915, "height_after": 1.3631483316421509}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0263.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0263.json
new file mode 100644
index 0000000000000000000000000000000000000000..04782c6af65411bdc12c4f0dec1a62b83956c023
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0263.json
@@ -0,0 +1 @@
+{"frame_index": 263, "time_norm": 0.7781065088757396, "door_angle": 0.5118321180343628, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2789062261581421, "right_arm_pose_y": -0.46342235803604126, "right_arm_pose_z": 1.0851268768310547, "right_arm_pose_qx": -0.5987511277198792, "right_arm_pose_qy": 0.5335555076599121, "right_arm_pose_qz": 0.5729466676712036, "right_arm_pose_qw": 0.1689608097076416, "left_arm_pose_x": 0.2537005543708801, "left_arm_pose_y": 0.18091237545013428, "left_arm_pose_z": 1.0524778366088867, "left_arm_pose_qx": 0.16554920375347137, "left_arm_pose_qy": 0.6883858442306519, "left_arm_pose_qz": 0.6870120167732239, "left_arm_pose_qw": 0.163502037525177, "tray_height": 1.0539252758026123, "tray_grasped_left": 1.0, "pregrasp_progress": 0.857318063485707, "pregrasp_distance": 0.039962273815836405, "pregrasp_position_error": 0.039962273815836405, "pregrasp_orientation_error_deg": 9.315098521332578, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0539252758026123, "p_ext_final_height": 1.3631483316421509, "p_ext_total_length": 1.6182109621043375, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2711947419286707, "three_view_visibility": 0.9507407407407408, "three_view_whole_tray_visibility": 0.4884468555354631, "full_view_visibility": 0.999448620637098, "full_view_whole_tray_visibility": 0.7958364869928332, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.9111111111111111, "overhead_tray_visibility": 0.20945945945945946, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 82.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 62.0, "wrist_right_grasp_visibility": 0.7888888888888889, "wrist_right_tray_visibility": 0.3968253968253968, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 71.0, "wrist_right_tray_projected_count": 126.0, "wrist_right_tray_visible_count": 50.0, "wrist_left_grasp_visibility": 0.7666666666666667, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.8333333333333334, "over_shoulder_left_tray_visibility": 0.16216216216216217, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 75.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 48.0, "over_shoulder_right_grasp_visibility": 0.24444444444444444, "over_shoulder_right_tray_visibility": 0.3974358974358974, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 22.0, "over_shoulder_right_tray_projected_count": 234.0, "over_shoulder_right_tray_visible_count": 93.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0264.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0264.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ed95d88e579d024b3801e38c55ddb373fb34bf
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0264.debug.json
@@ -0,0 +1 @@
+{"frame_index": 264, "state": {"door_angle": 0.49867117404937744, "tray_height": 1.0558679103851318, "tray_grasped_left": true, "left_arm_pose": [0.24940402805805206, 0.16848832368850708, 1.0545654296875, 0.16548827290534973, 0.6883533596992493, 0.687052845954895, 0.16352909803390503], "right_arm_pose": [0.2788950204849243, -0.4634685218334198, 1.085134506225586, -0.5987805724143982, 0.5335447788238525, 0.5729340314865112, 0.16893324255943298], "left_arm_joint_positions": [0.20579028129577637, -0.04825139045715332, -0.36788055300712585, -2.6542587280273438, 1.8924803733825684, 1.8057615756988525, -0.22366392612457275], "right_arm_joint_positions": [1.7528760433197021, 0.3892631530761719, -1.0873336791992188, -2.1251678466796875, -0.9718385934829712, 1.8350460529327393, -2.8973336219787598], "pregrasp_goal_pose": [0.24448594674296825, 0.1291542987278652, 1.0492314271831562, 0.19353307386445306, 0.7355728414077842, 0.6273736776649759, 0.1669724913780045], "pregrasp_position_error": 0.03999755775222432, "pregrasp_orientation_error_deg": 9.304715972891888}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 296, "tray_visible_count": 0}, "overhead": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.17567567567567569, "tray_projected_count": 296, "tray_visible_count": 52}, "wrist_right": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.34328358208955223, "tray_projected_count": 134, "tray_visible_count": 46}, "wrist_left": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.1858108108108108, "tray_projected_count": 296, "tray_visible_count": 55}, "over_shoulder_right": {"grasp_visibility": 0.34444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 31, "tray_visibility": 0.36885245901639346, "tray_projected_count": 244, "tray_visible_count": 90}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0558679103851318, "final_height": 1.354376196861267, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6360166233158717, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.26689731330476196, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5612982883460083, "reliability": 1.0, "planner_score": 0.4731240239421192, "height_before": 1.0558679103851318, "height_after": 1.1354070901870728}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0747183349698635, "reliability": 1.0, "planner_score": 0.2386021448705794, "height_before": 1.1354070901870728, "height_after": 1.354376196861267}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0264.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0264.json
new file mode 100644
index 0000000000000000000000000000000000000000..1224bd5976a5469fc93082db3f5daba59c66084f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0264.json
@@ -0,0 +1 @@
+{"frame_index": 264, "time_norm": 0.7810650887573964, "door_angle": 0.49867117404937744, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788950204849243, "right_arm_pose_y": -0.4634685218334198, "right_arm_pose_z": 1.085134506225586, "right_arm_pose_qx": -0.5987805724143982, "right_arm_pose_qy": 0.5335447788238525, "right_arm_pose_qz": 0.5729340314865112, "right_arm_pose_qw": 0.16893324255943298, "left_arm_pose_x": 0.24940402805805206, "left_arm_pose_y": 0.16848832368850708, "left_arm_pose_z": 1.0545654296875, "left_arm_pose_qx": 0.16548827290534973, "left_arm_pose_qy": 0.6883533596992493, "left_arm_pose_qz": 0.687052845954895, "left_arm_pose_qw": 0.16352909803390503, "tray_height": 1.0558679103851318, "tray_grasped_left": 1.0, "pregrasp_progress": 0.857192088007653, "pregrasp_distance": 0.03999755775222432, "pregrasp_position_error": 0.03999755775222432, "pregrasp_orientation_error_deg": 9.304715972891888, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0558679103851318, "p_ext_final_height": 1.354376196861267, "p_ext_total_length": 1.6360166233158717, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.26689731330476196, "three_view_visibility": 0.9533333333333334, "three_view_whole_tray_visibility": 0.44303797468354433, "full_view_visibility": 0.9999886694101509, "full_view_whole_tray_visibility": 0.7640717607789109, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.9888888888888889, "overhead_tray_visibility": 0.17567567567567569, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 89.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 52.0, "wrist_right_grasp_visibility": 0.8, "wrist_right_tray_visibility": 0.34328358208955223, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 72.0, "wrist_right_tray_projected_count": 134.0, "wrist_right_tray_visible_count": 46.0, "wrist_left_grasp_visibility": 0.7666666666666667, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.9666666666666667, "over_shoulder_left_tray_visibility": 0.1858108108108108, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 87.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 55.0, "over_shoulder_right_grasp_visibility": 0.34444444444444444, "over_shoulder_right_tray_visibility": 0.36885245901639346, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 31.0, "over_shoulder_right_tray_projected_count": 244.0, "over_shoulder_right_tray_visible_count": 90.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0265.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0265.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..907e711350df42dc00cf718a79eb2a7bc7978985
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0265.debug.json
@@ -0,0 +1 @@
+{"frame_index": 265, "state": {"door_angle": 0.4910186529159546, "tray_height": 1.0579006671905518, "tray_grasped_left": true, "left_arm_pose": [0.24496039748191833, 0.15588778257369995, 1.0565667152404785, 0.16547247767448425, 0.6883381605148315, 0.6870825290679932, 0.16348448395729065], "right_arm_pose": [0.27889034152030945, -0.46343332529067993, 1.0851490497589111, -0.5987494587898254, 0.5335804224014282, 0.5729368329048157, 0.16892150044441223], "left_arm_joint_positions": [0.18784403800964355, -0.06358194351196289, -0.3855542838573456, -2.6655936241149902, 1.857875108718872, 1.7926361560821533, -0.21593105792999268], "right_arm_joint_positions": [1.752871036529541, 0.38922762870788574, -1.0873658657073975, -2.1252341270446777, -0.9718681573867798, 1.8350474834442139, -2.8973276615142822], "pregrasp_goal_pose": [0.2400447574329916, 0.11654592204558302, 1.0514297712460792, 0.19394707577364034, 0.7356042834790051, 0.6273516194844132, 0.1664356195544603], "pregrasp_position_error": 0.039979165830542444, "pregrasp_orientation_error_deg": 9.327102632090263}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.02702702702702703, "tray_projected_count": 296, "tray_visible_count": 8}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.30743243243243246, "tray_projected_count": 296, "tray_visible_count": 91}, "wrist_right": {"grasp_visibility": 0.7333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 66, "tray_visibility": 0.3591549295774648, "tray_projected_count": 142, "tray_visible_count": 51}, "wrist_left": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.22972972972972974, "tray_projected_count": 296, "tray_visible_count": 68}, "over_shoulder_right": {"grasp_visibility": 0.35555555555555557, "grasp_projected_count": 90, "grasp_visible_count": 32, "tray_visibility": 0.4959349593495935, "tray_projected_count": 246, "tray_visible_count": 122}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0579006671905518, "final_height": 1.36179518699646, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6590518168744937, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2615540880933587, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.5841229263643494, "reliability": 1.0, "planner_score": 0.45894239931453495, "height_before": 1.0579006671905518, "height_after": 1.1352397203445435}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749288905101444, "reliability": 1.0, "planner_score": 0.23853516893442167, "height_before": 1.1352397203445435, "height_after": 1.36179518699646}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0265.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0265.json
new file mode 100644
index 0000000000000000000000000000000000000000..631f5b28990fe38b00fd5548a3c1f4a7321e3762
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0265.json
@@ -0,0 +1 @@
+{"frame_index": 265, "time_norm": 0.7840236686390533, "door_angle": 0.4910186529159546, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27889034152030945, "right_arm_pose_y": -0.46343332529067993, "right_arm_pose_z": 1.0851490497589111, "right_arm_pose_qx": -0.5987494587898254, "right_arm_pose_qy": 0.5335804224014282, "right_arm_pose_qz": 0.5729368329048157, "right_arm_pose_qw": 0.16892150044441223, "left_arm_pose_x": 0.24496039748191833, "left_arm_pose_y": 0.15588778257369995, "left_arm_pose_z": 1.0565667152404785, "left_arm_pose_qx": 0.16547247767448425, "left_arm_pose_qy": 0.6883381605148315, "left_arm_pose_qz": 0.6870825290679932, "left_arm_pose_qw": 0.16348448395729065, "tray_height": 1.0579006671905518, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572577641742174, "pregrasp_distance": 0.039979165830542444, "pregrasp_position_error": 0.039979165830542444, "pregrasp_orientation_error_deg": 9.327102632090263, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0579006671905518, "p_ext_final_height": 1.36179518699646, "p_ext_total_length": 1.6590518168744937, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2615540880933587, "three_view_visibility": 0.9377777777777778, "three_view_whole_tray_visibility": 0.4711877147248871, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.857802028840832, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.02702702702702703, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 8.0, "overhead_grasp_visibility": 0.9333333333333333, "overhead_tray_visibility": 0.30743243243243246, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 84.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 91.0, "wrist_right_grasp_visibility": 0.7333333333333333, "wrist_right_tray_visibility": 0.3591549295774648, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 66.0, "wrist_right_tray_projected_count": 142.0, "wrist_right_tray_visible_count": 51.0, "wrist_left_grasp_visibility": 0.7666666666666667, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.22972972972972974, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 68.0, "over_shoulder_right_grasp_visibility": 0.35555555555555557, "over_shoulder_right_tray_visibility": 0.4959349593495935, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 32.0, "over_shoulder_right_tray_projected_count": 246.0, "over_shoulder_right_tray_visible_count": 122.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0266.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0266.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d7c5cdc8f7bddec1807d1bca6e5d3456a8eff7c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0266.debug.json
@@ -0,0 +1 @@
+{"frame_index": 266, "state": {"door_angle": 0.49018537998199463, "tray_height": 1.0599170923233032, "tray_grasped_left": true, "left_arm_pose": [0.24051502346992493, 0.14314107596874237, 1.0585640668869019, 0.16553795337677002, 0.6883122324943542, 0.6870921850204468, 0.16348639130592346], "right_arm_pose": [0.27886998653411865, -0.4634690284729004, 1.085176944732666, -0.5987579822540283, 0.5335721969604492, 0.5729432702064514, 0.1688953936100006], "left_arm_joint_positions": [0.16937828063964844, -0.07800936698913574, -0.4037880599498749, -2.6754770278930664, 1.8226525783538818, 1.779109001159668, -0.20789611339569092], "right_arm_joint_positions": [1.752856969833374, 0.38928747177124023, -1.0873184204101562, -2.125059127807617, -0.9718936681747437, 1.835047721862793, -2.8972878456115723], "pregrasp_goal_pose": [0.23558241436109312, 0.10376848088602221, 1.0532037523780953, 0.19341646067143997, 0.7354637666788614, 0.6274985663400402, 0.1671187299050253], "pregrasp_position_error": 0.04004078979992394, "pregrasp_orientation_error_deg": 9.287337564405739}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.02702702702702703, "tray_projected_count": 296, "tray_visible_count": 8}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.26013513513513514, "tray_projected_count": 296, "tray_visible_count": 77}, "wrist_right": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.3888888888888889, "tray_projected_count": 144, "tray_visible_count": 56}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.28040540540540543, "tray_projected_count": 296, "tray_visible_count": 83}, "over_shoulder_right": {"grasp_visibility": 0.3888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 35, "tray_visibility": 0.4961832061068702, "tray_projected_count": 262, "tray_visible_count": 130}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0599170923233032, "final_height": 1.3630120754241943, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.6862088125801264, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.2554524541737102, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6110973259372691, "reliability": 1.0, "planner_score": 0.4427294425924559, "height_before": 1.0599170923233032, "height_after": 1.1355589628219604}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0751114866428575, "reliability": 1.0, "planner_score": 0.23847710187077134, "height_before": 1.1355589628219604, "height_after": 1.3630120754241943}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0266.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0266.json
new file mode 100644
index 0000000000000000000000000000000000000000..1667625dce591ed2043d46e32677a15220c54fac
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0266.json
@@ -0,0 +1 @@
+{"frame_index": 266, "time_norm": 0.7869822485207101, "door_angle": 0.49018537998199463, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27886998653411865, "right_arm_pose_y": -0.4634690284729004, "right_arm_pose_z": 1.085176944732666, "right_arm_pose_qx": -0.5987579822540283, "right_arm_pose_qy": 0.5335721969604492, "right_arm_pose_qz": 0.5729432702064514, "right_arm_pose_qw": 0.1688953936100006, "left_arm_pose_x": 0.24051502346992493, "left_arm_pose_y": 0.14314107596874237, "left_arm_pose_z": 1.0585640668869019, "left_arm_pose_qx": 0.16553795337677002, "left_arm_pose_qy": 0.6883122324943542, "left_arm_pose_qz": 0.6870921850204468, "left_arm_pose_qw": 0.16348639130592346, "tray_height": 1.0599170923233032, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8570377301842537, "pregrasp_distance": 0.04004078979992394, "pregrasp_position_error": 0.04004078979992394, "pregrasp_orientation_error_deg": 9.287337564405739, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0599170923233032, "p_ext_final_height": 1.3630120754241943, "p_ext_total_length": 1.6862088125801264, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.2554524541737102, "three_view_visibility": 0.9619753086419753, "three_view_whole_tray_visibility": 0.4957235716729388, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.8647361937061776, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.02702702702702703, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 8.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.26013513513513514, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 77.0, "wrist_right_grasp_visibility": 0.8444444444444444, "wrist_right_tray_visibility": 0.3888888888888889, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 76.0, "wrist_right_tray_projected_count": 144.0, "wrist_right_tray_visible_count": 56.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.28040540540540543, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 83.0, "over_shoulder_right_grasp_visibility": 0.3888888888888889, "over_shoulder_right_tray_visibility": 0.4961832061068702, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 35.0, "over_shoulder_right_tray_projected_count": 262.0, "over_shoulder_right_tray_visible_count": 130.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0267.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0267.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b98b8186aaa1ab1892dddcfc075c4570e98de1a7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0267.debug.json
@@ -0,0 +1 @@
+{"frame_index": 267, "state": {"door_angle": 0.48933136463165283, "tray_height": 1.0619292259216309, "tray_grasped_left": true, "left_arm_pose": [0.23601318895816803, 0.13042232394218445, 1.060583233833313, 0.1654980629682541, 0.6882909536361694, 0.6871263980865479, 0.16347265243530273], "right_arm_pose": [0.2788628935813904, -0.46346062421798706, 1.0851787328720093, -0.5987504720687866, 0.5335777401924133, 0.5729459524154663, 0.1688958704471588], "left_arm_joint_positions": [0.15056943893432617, -0.09136152267456055, -0.42215868830680847, -2.6837329864501953, 1.786971092224121, 1.7650902271270752, -0.1996999979019165], "right_arm_joint_positions": [1.7528440952301025, 0.3892841339111328, -1.0873992443084717, -2.1251773834228516, -0.9718664884567261, 1.8350701332092285, -2.897310495376587], "pregrasp_goal_pose": [0.23112989340615558, 0.09111700919195384, 1.0551589298940145, 0.19324540709309082, 0.7354614989171032, 0.6275105496436847, 0.167281518207823], "pregrasp_position_error": 0.03997721121200039, "pregrasp_orientation_error_deg": 9.286248033527043}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.060810810810810814, "tray_projected_count": 296, "tray_visible_count": 18}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.3581081081081081, "tray_projected_count": 296, "tray_visible_count": 106}, "wrist_right": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.3082191780821918, "tray_projected_count": 146, "tray_visible_count": 45}, "wrist_left": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.2668918918918919, "tray_projected_count": 296, "tray_visible_count": 79}, "over_shoulder_right": {"grasp_visibility": 0.36666666666666664, "grasp_projected_count": 90, "grasp_visible_count": 33, "tray_visibility": 0.48484848484848486, "tray_projected_count": 264, "tray_visible_count": 128}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0619292259216309, "final_height": 1.353367567062378, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.7167304746330616, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.24881784541275137, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6417671834263832, "reliability": 1.0, "planner_score": 0.4249900262832786, "height_before": 1.0619292259216309, "height_after": 1.1356732845306396}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749632912066784, "reliability": 1.0, "planner_score": 0.23852422815072505, "height_before": 1.1356732845306396, "height_after": 1.353367567062378}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0267.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0267.json
new file mode 100644
index 0000000000000000000000000000000000000000..feeef5eca10329b62e0be76d6a46cf737618cc49
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0267.json
@@ -0,0 +1 @@
+{"frame_index": 267, "time_norm": 0.7899408284023669, "door_angle": 0.48933136463165283, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788628935813904, "right_arm_pose_y": -0.46346062421798706, "right_arm_pose_z": 1.0851787328720093, "right_arm_pose_qx": -0.5987504720687866, "right_arm_pose_qy": 0.5335777401924133, "right_arm_pose_qz": 0.5729459524154663, "right_arm_pose_qw": 0.1688958704471588, "left_arm_pose_x": 0.23601318895816803, "left_arm_pose_y": 0.13042232394218445, "left_arm_pose_z": 1.060583233833313, "left_arm_pose_qx": 0.1654980629682541, "left_arm_pose_qy": 0.6882909536361694, "left_arm_pose_qz": 0.6871263980865479, "left_arm_pose_qw": 0.16347265243530273, "tray_height": 1.0619292259216309, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572647339070731, "pregrasp_distance": 0.03997721121200039, "pregrasp_position_error": 0.03997721121200039, "pregrasp_orientation_error_deg": 9.286248033527043, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0619292259216309, "p_ext_final_height": 1.353367567062378, "p_ext_total_length": 1.7167304746330616, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.24881784541275137, "three_view_visibility": 0.9455555555555556, "three_view_whole_tray_visibility": 0.44897752356136267, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.866422223988214, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.060810810810810814, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 18.0, "overhead_grasp_visibility": 0.9333333333333333, "overhead_tray_visibility": 0.3581081081081081, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 84.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 106.0, "wrist_right_grasp_visibility": 0.7666666666666667, "wrist_right_tray_visibility": 0.3082191780821918, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 69.0, "wrist_right_tray_projected_count": 146.0, "wrist_right_tray_visible_count": 45.0, "wrist_left_grasp_visibility": 0.7666666666666667, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.2668918918918919, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 79.0, "over_shoulder_right_grasp_visibility": 0.36666666666666664, "over_shoulder_right_tray_visibility": 0.48484848484848486, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 33.0, "over_shoulder_right_tray_projected_count": 264.0, "over_shoulder_right_tray_visible_count": 128.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0268.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0268.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..f45a0c6a994cf96397cc9aad3bd6557f77f12722
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0268.debug.json
@@ -0,0 +1 @@
+{"frame_index": 268, "state": {"door_angle": 0.4891573190689087, "tray_height": 1.0640283823013306, "tray_grasped_left": true, "left_arm_pose": [0.23161029815673828, 0.11762665957212448, 1.0627048015594482, 0.16554702818393707, 0.688184916973114, 0.6871929168701172, 0.1635899841785431], "right_arm_pose": [0.2788796126842499, -0.4634547233581543, 1.0851927995681763, -0.5987409949302673, 0.5336014032363892, 0.5729353427886963, 0.16889014840126038], "left_arm_joint_positions": [0.1314225196838379, -0.103729248046875, -0.44104263186454773, -2.6902899742126465, 1.751084804534912, 1.7503564357757568, -0.1912909746170044], "right_arm_joint_positions": [1.752828598022461, 0.3892693519592285, -1.0873830318450928, -2.125110149383545, -0.9718335866928101, 1.8350412845611572, -2.8973169326782227], "pregrasp_goal_pose": [0.2266994277102087, 0.07829469625167748, 1.0574561303768009, 0.19378503773881944, 0.7355284644924674, 0.6274020418556902, 0.16676904672398893], "pregrasp_position_error": 0.03998335324065678, "pregrasp_orientation_error_deg": 9.328844613709673}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.11486486486486487, "tray_projected_count": 296, "tray_visible_count": 34}, "overhead": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.3952702702702703, "tray_projected_count": 296, "tray_visible_count": 117}, "wrist_right": {"grasp_visibility": 0.8333333333333334, "grasp_projected_count": 90, "grasp_visible_count": 75, "tray_visibility": 0.4178082191780822, "tray_projected_count": 146, "tray_visible_count": 61}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.32432432432432434, "tray_projected_count": 296, "tray_visible_count": 96}, "over_shoulder_right": {"grasp_visibility": 0.34444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 31, "tray_visibility": 0.5330882352941176, "tray_projected_count": 272, "tray_visible_count": 145}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0640283823013306, "final_height": 1.3632607460021973, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.7503001727925673, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.24182857391909335, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.6754938168055693, "reliability": 1.0, "planner_score": 0.4063020532751608, "height_before": 1.0640283823013306, "height_after": 1.1353014707565308}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.074806355986998, "reliability": 1.0, "planner_score": 0.2385741438424215, "height_before": 1.1353014707565308, "height_after": 1.3632607460021973}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0268.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0268.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ae78a87a5a42f868b5221a08480b56d8c8bae8
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0268.json
@@ -0,0 +1 @@
+{"frame_index": 268, "time_norm": 0.7928994082840237, "door_angle": 0.4891573190689087, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788796126842499, "right_arm_pose_y": -0.4634547233581543, "right_arm_pose_z": 1.0851927995681763, "right_arm_pose_qx": -0.5987409949302673, "right_arm_pose_qy": 0.5336014032363892, "right_arm_pose_qz": 0.5729353427886963, "right_arm_pose_qw": 0.16889014840126038, "left_arm_pose_x": 0.23161029815673828, "left_arm_pose_y": 0.11762665957212448, "left_arm_pose_z": 1.0627048015594482, "left_arm_pose_qx": 0.16554702818393707, "left_arm_pose_qy": 0.688184916973114, "left_arm_pose_qz": 0.6871929168701172, "left_arm_pose_qw": 0.1635899841785431, "tray_height": 1.0640283823013306, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572428132793406, "pregrasp_distance": 0.03998335324065678, "pregrasp_position_error": 0.03998335324065678, "pregrasp_orientation_error_deg": 9.328844613709673, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0640283823013306, "p_ext_final_height": 1.3632607460021973, "p_ext_total_length": 1.7503001727925673, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.24182857391909335, "three_view_visibility": 0.9592592592592593, "three_view_whole_tray_visibility": 0.5629578121558354, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9166207886396874, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.11486486486486487, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 34.0, "overhead_grasp_visibility": 0.9888888888888889, "overhead_tray_visibility": 0.3952702702702703, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 89.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 117.0, "wrist_right_grasp_visibility": 0.8333333333333334, "wrist_right_tray_visibility": 0.4178082191780822, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 75.0, "wrist_right_tray_projected_count": 146.0, "wrist_right_tray_visible_count": 61.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.32432432432432434, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 96.0, "over_shoulder_right_grasp_visibility": 0.34444444444444444, "over_shoulder_right_tray_visibility": 0.5330882352941176, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 31.0, "over_shoulder_right_tray_projected_count": 272.0, "over_shoulder_right_tray_visible_count": 145.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0270.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0270.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..75c874280b381a6eeb8a159f978c71ddad7bed9a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0270.debug.json
@@ -0,0 +1 @@
+{"frame_index": 270, "state": {"door_angle": 0.4832717180252075, "tray_height": 1.0681685209274292, "tray_grasped_left": true, "left_arm_pose": [0.22263646125793457, 0.09222319722175598, 1.0669009685516357, 0.16540054976940155, 0.6880902051925659, 0.6873263120651245, 0.16357576847076416], "right_arm_pose": [0.27885931730270386, -0.4634512662887573, 1.085174322128296, -0.5987178683280945, 0.5335550308227539, 0.5729929804801941, 0.16892284154891968], "left_arm_joint_positions": [0.09264087677001953, -0.12450718879699707, -0.47935912013053894, -2.698662281036377, 1.678889274597168, 1.7188265323638916, -0.17419373989105225], "right_arm_joint_positions": [1.752852201461792, 0.38936853408813477, -1.0874404907226562, -2.125164270401001, -0.9718929529190063, 1.8350591659545898, -2.89731502532959], "pregrasp_goal_pose": [0.21772601078353362, 0.052860546455983246, 1.0615134195213554, 0.19351500607111355, 0.7355234218744813, 0.6274376021906845, 0.16697093656249062], "pregrasp_position_error": 0.04003194329186891, "pregrasp_orientation_error_deg": 9.33917220132169}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.1891891891891892, "tray_projected_count": 296, "tray_visible_count": 56}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "wrist_right": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.4266666666666667, "tray_projected_count": 150, "tray_visible_count": 64}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.41216216216216217, "tray_projected_count": 296, "tray_visible_count": 122}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.5763888888888888, "tray_projected_count": 288, "tray_visible_count": 166}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0681685209274292, "final_height": 1.3538618087768555, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.8259005093057583, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.22722356102432867, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.7510230625198073, "reliability": 1.0, "planner_score": 0.36737796505272224, "height_before": 1.0681685209274292, "height_after": 1.1353641748428345}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.074877446785951, "reliability": 1.0, "planner_score": 0.23855153101215418, "height_before": 1.1353641748428345, "height_after": 1.3538618087768555}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0270.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0270.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a717c56cf1db3c18f9563845860bfa134988bdd
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0270.json
@@ -0,0 +1 @@
+{"frame_index": 270, "time_norm": 0.7988165680473372, "door_angle": 0.4832717180252075, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27885931730270386, "right_arm_pose_y": -0.4634512662887573, "right_arm_pose_z": 1.085174322128296, "right_arm_pose_qx": -0.5987178683280945, "right_arm_pose_qy": 0.5335550308227539, "right_arm_pose_qz": 0.5729929804801941, "right_arm_pose_qw": 0.16892284154891968, "left_arm_pose_x": 0.22263646125793457, "left_arm_pose_y": 0.09222319722175598, "left_arm_pose_z": 1.0669009685516357, "left_arm_pose_qx": 0.16540054976940155, "left_arm_pose_qy": 0.6880902051925659, "left_arm_pose_qz": 0.6873263120651245, "left_arm_pose_qw": 0.16357576847076416, "tray_height": 1.0681685209274292, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8570693244874331, "pregrasp_distance": 0.04003194329186891, "pregrasp_position_error": 0.04003194329186891, "pregrasp_orientation_error_deg": 9.33917220132169, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0681685209274292, "p_ext_final_height": 1.3538618087768555, "p_ext_total_length": 1.8259005093057583, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.22722356102432867, "three_view_visibility": 0.9728395061728395, "three_view_whole_tray_visibility": 0.6057475196715704, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9485909827905987, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.1891891891891892, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 56.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.47635135135135137, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 141.0, "wrist_right_grasp_visibility": 0.8888888888888888, "wrist_right_tray_visibility": 0.4266666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 80.0, "wrist_right_tray_projected_count": 150.0, "wrist_right_tray_visible_count": 64.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.41216216216216217, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 122.0, "over_shoulder_right_grasp_visibility": 0.43333333333333335, "over_shoulder_right_tray_visibility": 0.5763888888888888, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 39.0, "over_shoulder_right_tray_projected_count": 288.0, "over_shoulder_right_tray_visible_count": 166.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0271.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0271.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..410ed391b0f01df0b40c981d72de2f5616b85ebf
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0271.debug.json
@@ -0,0 +1 @@
+{"frame_index": 271, "state": {"door_angle": 0.4678243398666382, "tray_height": 1.07039213180542, "tray_grasped_left": true, "left_arm_pose": [0.21821290254592896, 0.07943572103977203, 1.0690138339996338, 0.16535210609436035, 0.6880354285240173, 0.6873793601989746, 0.16363264620304108], "right_arm_pose": [0.2788672149181366, -0.4634610414505005, 1.0851714611053467, -0.5987468361854553, 0.5335701107978821, 0.5729531645774841, 0.16890756785869598], "left_arm_joint_positions": [0.07304573059082031, -0.13272809982299805, -0.49895545840263367, -2.7001280784606934, 1.6429097652435303, 1.7017815113067627, -0.16568171977996826], "right_arm_joint_positions": [1.7528624534606934, 0.38924670219421387, -1.087385654449463, -2.1251533031463623, -0.9718390703201294, 1.835097074508667, -2.8973073959350586], "pregrasp_goal_pose": [0.21327320109563414, 0.04008428181620434, 1.0637355127535872, 0.193504336147318, 0.7355159888204438, 0.627455209996215, 0.16694987729937602], "pregrasp_position_error": 0.040009962441380185, "pregrasp_orientation_error_deg": 9.346447754395077}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5135135135135135, "tray_projected_count": 296, "tray_visible_count": 152}, "wrist_right": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.4266666666666667, "tray_projected_count": 150, "tray_visible_count": 64}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.46959459459459457, "tray_projected_count": 296, "tray_visible_count": 139}, "over_shoulder_right": {"grasp_visibility": 0.4444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 40, "tray_visibility": 0.5868055555555556, "tray_projected_count": 288, "tray_visible_count": 169}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.07039213180542, "final_height": 1.352386713027954, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.8670165764513684, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.21987998834693, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.7920346836155014, "reliability": 1.0, "planner_score": 0.34782832328671787, "height_before": 1.07039213180542, "height_after": 1.1353108882904053}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.074981892835867, "reliability": 1.0, "planner_score": 0.23851831230509554, "height_before": 1.1353108882904053, "height_after": 1.352386713027954}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0271.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0271.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a79184ab80ee7045fb275d78c0ff09a2d20da27
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0271.json
@@ -0,0 +1 @@
+{"frame_index": 271, "time_norm": 0.8017751479289941, "door_angle": 0.4678243398666382, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788672149181366, "right_arm_pose_y": -0.4634610414505005, "right_arm_pose_z": 1.0851714611053467, "right_arm_pose_qx": -0.5987468361854553, "right_arm_pose_qy": 0.5335701107978821, "right_arm_pose_qz": 0.5729531645774841, "right_arm_pose_qw": 0.16890756785869598, "left_arm_pose_x": 0.21821290254592896, "left_arm_pose_y": 0.07943572103977203, "left_arm_pose_z": 1.0690138339996338, "left_arm_pose_qx": 0.16535210609436035, "left_arm_pose_qy": 0.6880354285240173, "left_arm_pose_qz": 0.6873793601989746, "left_arm_pose_qw": 0.16363264620304108, "tray_height": 1.07039213180542, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571478060458999, "pregrasp_distance": 0.040009962441380185, "pregrasp_position_error": 0.040009962441380185, "pregrasp_orientation_error_deg": 9.346447754395077, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.07039213180542, "p_ext_final_height": 1.352386713027954, "p_ext_total_length": 1.8670165764513684, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.21987998834693, "three_view_visibility": 0.9674074074074074, "three_view_whole_tray_visibility": 0.6090329570076406, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9583156200681026, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.19594594594594594, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 58.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.5135135135135135, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 152.0, "wrist_right_grasp_visibility": 0.8666666666666667, "wrist_right_tray_visibility": 0.4266666666666667, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 78.0, "wrist_right_tray_projected_count": 150.0, "wrist_right_tray_visible_count": 64.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.46959459459459457, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 139.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.5868055555555556, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 288.0, "over_shoulder_right_tray_visible_count": 169.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0272.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0272.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3b3dc551298a0fbee93d83008289e06f409208a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0272.debug.json
@@ -0,0 +1 @@
+{"frame_index": 272, "state": {"door_angle": 0.45225608348846436, "tray_height": 1.0724766254425049, "tray_grasped_left": true, "left_arm_pose": [0.2136262059211731, 0.06665632873773575, 1.0709859132766724, 0.16537848114967346, 0.6880055665969849, 0.6874253749847412, 0.1635383516550064], "right_arm_pose": [0.27890217304229736, -0.4634111821651459, 1.0851404666900635, -0.5987195372581482, 0.5335527658462524, 0.5729766488075256, 0.16897974908351898], "left_arm_joint_positions": [0.05340456962585449, -0.13936662673950195, -0.5185379981994629, -2.7001171112060547, 1.6072511672973633, 1.6837375164031982, -0.15725910663604736], "right_arm_joint_positions": [1.7528576850891113, 0.3894214630126953, -1.0873887538909912, -2.1253201961517334, -0.9718466997146606, 1.8350474834442139, -2.8972933292388916], "pregrasp_goal_pose": [0.2087259434915974, 0.02728612338021441, 1.0657806218343464, 0.19342763606942773, 0.735434512438654, 0.627576216614375, 0.1669428640544407], "pregrasp_position_error": 0.040014006307437705, "pregrasp_orientation_error_deg": 9.333015070249955}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.24324324324324326, "tray_projected_count": 296, "tray_visible_count": 72}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5405405405405406, "tray_projected_count": 296, "tray_visible_count": 160}, "wrist_right": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.40131578947368424, "tray_projected_count": 152, "tray_visible_count": 61}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.47635135135135137, "tray_projected_count": 296, "tray_visible_count": 141}, "over_shoulder_right": {"grasp_visibility": 0.5, "grasp_projected_count": 90, "grasp_visible_count": 45, "tray_visibility": 0.5844594594594594, "tray_projected_count": 296, "tray_visible_count": 173}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0724766254425049, "final_height": 1.3631772994995117, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.9098323762108311, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.21264081858556416, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.8348827906322185, "reliability": 1.0, "planner_score": 0.3285135958718112, "height_before": 1.0724766254425049, "height_after": 1.1353979110717773}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749495855786126, "reliability": 1.0, "planner_score": 0.2385285870230266, "height_before": 1.1353979110717773, "height_after": 1.3631772994995117}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0272.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0272.json
new file mode 100644
index 0000000000000000000000000000000000000000..23cea98ba8c68e3a509299fc4f45293095541cff
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0272.json
@@ -0,0 +1 @@
+{"frame_index": 272, "time_norm": 0.8047337278106509, "door_angle": 0.45225608348846436, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27890217304229736, "right_arm_pose_y": -0.4634111821651459, "right_arm_pose_z": 1.0851404666900635, "right_arm_pose_qx": -0.5987195372581482, "right_arm_pose_qy": 0.5335527658462524, "right_arm_pose_qz": 0.5729766488075256, "right_arm_pose_qw": 0.16897974908351898, "left_arm_pose_x": 0.2136262059211731, "left_arm_pose_y": 0.06665632873773575, "left_arm_pose_z": 1.0709859132766724, "left_arm_pose_qx": 0.16537848114967346, "left_arm_pose_qy": 0.6880055665969849, "left_arm_pose_qz": 0.6874253749847412, "left_arm_pose_qw": 0.1635383516550064, "tray_height": 1.0724766254425049, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571333605450345, "pregrasp_distance": 0.040014006307437705, "pregrasp_position_error": 0.040014006307437705, "pregrasp_orientation_error_deg": 9.333015070249955, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0724766254425049, "p_ext_final_height": 1.3631772994995117, "p_ext_total_length": 1.9098323762108311, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.21264081858556416, "three_view_visibility": 0.9728395061728395, "three_view_whole_tray_visibility": 0.6157606640617967, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.961584861097118, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.24324324324324326, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 72.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.5405405405405406, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 160.0, "wrist_right_grasp_visibility": 0.8888888888888888, "wrist_right_tray_visibility": 0.40131578947368424, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 80.0, "wrist_right_tray_projected_count": 152.0, "wrist_right_tray_visible_count": 61.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.47635135135135137, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 141.0, "over_shoulder_right_grasp_visibility": 0.5, "over_shoulder_right_tray_visibility": 0.5844594594594594, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 45.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 173.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0273.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0273.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d87c0c769230f9748db05a0758af9a19c5014b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0273.debug.json
@@ -0,0 +1 @@
+{"frame_index": 273, "state": {"door_angle": 0.4396101236343384, "tray_height": 1.074605107307434, "tray_grasped_left": true, "left_arm_pose": [0.20913025736808777, 0.05378274619579315, 1.073075532913208, 0.16533136367797852, 0.6879690885543823, 0.6874649524688721, 0.16357305645942688], "right_arm_pose": [0.2788950204849243, -0.46339714527130127, 1.0851331949234009, -0.5987185835838318, 0.5335785150527954, 0.5729564428329468, 0.16897080838680267], "left_arm_joint_positions": [0.03376340866088867, -0.14455938339233398, -0.5385580062866211, -2.6979808807373047, 1.5720241069793701, 1.6647834777832031, -0.14895832538604736], "right_arm_joint_positions": [1.7528438568115234, 0.38936734199523926, -1.087425947189331, -2.1252498626708984, -0.9718540906906128, 1.83504056930542, -2.8972830772399902], "pregrasp_goal_pose": [0.2042207059562991, 0.014407243880605186, 1.06772735295895, 0.19317850587813823, 0.7351571523458963, 0.6278870163102371, 0.16728395311682182], "pregrasp_position_error": 0.040039192130480065, "pregrasp_orientation_error_deg": 9.28762483679898}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.24662162162162163, "tray_projected_count": 296, "tray_visible_count": 73}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5743243243243243, "tray_projected_count": 296, "tray_visible_count": 170}, "wrist_right": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.461038961038961, "tray_projected_count": 154, "tray_visible_count": 71}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5641891891891891, "tray_projected_count": 296, "tray_visible_count": 167}, "over_shoulder_right": {"grasp_visibility": 0.5111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 46, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.074605107307434, "final_height": 1.3554481267929077, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.9542099151079015, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.20556424713046234, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.8792243996947906, "reliability": 1.0, "planner_score": 0.309654165441369, "height_before": 1.074605107307434, "height_after": 1.1354857683181763}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.074985515413111, "reliability": 1.0, "planner_score": 0.23851716023986394, "height_before": 1.1354857683181763, "height_after": 1.3554481267929077}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0273.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0273.json
new file mode 100644
index 0000000000000000000000000000000000000000..39d7759603a0eaa360af10879e4e3cd74cb21fa0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0273.json
@@ -0,0 +1 @@
+{"frame_index": 273, "time_norm": 0.8076923076923077, "door_angle": 0.4396101236343384, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788950204849243, "right_arm_pose_y": -0.46339714527130127, "right_arm_pose_z": 1.0851331949234009, "right_arm_pose_qx": -0.5987185835838318, "right_arm_pose_qy": 0.5335785150527954, "right_arm_pose_qz": 0.5729564428329468, "right_arm_pose_qw": 0.16897080838680267, "left_arm_pose_x": 0.20913025736808777, "left_arm_pose_y": 0.05378274619579315, "left_arm_pose_z": 1.073075532913208, "left_arm_pose_qx": 0.16533136367797852, "left_arm_pose_qy": 0.6879690885543823, "left_arm_pose_qz": 0.6874649524688721, "left_arm_pose_qw": 0.16357305645942688, "tray_height": 1.074605107307434, "tray_grasped_left": 1.0, "pregrasp_progress": 0.857043439074648, "pregrasp_distance": 0.040039192130480065, "pregrasp_position_error": 0.040039192130480065, "pregrasp_orientation_error_deg": 9.28762483679898, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.074605107307434, "p_ext_final_height": 1.3554481267929077, "p_ext_total_length": 1.9542099151079015, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.20556424713046234, "three_view_visibility": 0.9674074074074074, "three_view_whole_tray_visibility": 0.6556356105406738, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9797123749029257, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.24662162162162163, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 73.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.5743243243243243, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 170.0, "wrist_right_grasp_visibility": 0.8666666666666667, "wrist_right_tray_visibility": 0.461038961038961, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 78.0, "wrist_right_tray_projected_count": 154.0, "wrist_right_tray_visible_count": 71.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.5641891891891891, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 167.0, "over_shoulder_right_grasp_visibility": 0.5111111111111111, "over_shoulder_right_tray_visibility": 0.6824324324324325, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 46.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 202.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0274.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0274.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..884a00dcd598d5f1a6b485be9cb2f3edea3ae96a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0274.debug.json
@@ -0,0 +1 @@
+{"frame_index": 274, "state": {"door_angle": 0.4273010492324829, "tray_height": 1.0766537189483643, "tray_grasped_left": true, "left_arm_pose": [0.204545259475708, 0.0407845713198185, 1.0751053094863892, 0.16534648835659027, 0.6879621148109436, 0.6874719858169556, 0.16355758905410767], "right_arm_pose": [0.27889329195022583, -0.4634197950363159, 1.0851466655731201, -0.5987353920936584, 0.5335653424263, 0.572959840297699, 0.16894085705280304], "left_arm_joint_positions": [0.014250040054321289, -0.14819097518920898, -0.558748722076416, -2.69398832321167, 1.5372822284698486, 1.6446819305419922, -0.14086472988128662], "right_arm_joint_positions": [1.752859354019165, 0.38927292823791504, -1.0874009132385254, -2.1252243518829346, -0.9718908071517944, 1.8350493907928467, -2.8972976207733154], "pregrasp_goal_pose": [0.19962175068935895, 0.001459372290608621, 1.0697868824266519, 0.1933725906720268, 0.7349654974876725, 0.6281127458135232, 0.1670542942461623], "pregrasp_position_error": 0.0399874715860602, "pregrasp_orientation_error_deg": 9.26285704838505}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.0, "grasp_projected_count": 90, "grasp_visible_count": 0, "tray_visibility": 0.27702702702702703, "tray_projected_count": 296, "tray_visible_count": 82}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5945945945945946, "tray_projected_count": 296, "tray_visible_count": 176}, "wrist_right": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.4876543209876543, "tray_projected_count": 162, "tray_visible_count": 79}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5743243243243243, "tray_projected_count": 296, "tray_visible_count": 170}, "over_shoulder_right": {"grasp_visibility": 0.5222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 47, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0766537189483643, "final_height": 1.355384111404419, "already_grasped_start": true, "already_grasped_end": true, "total_length": 1.9999825564112035, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.19868598449105102, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.925123683790628, "reliability": 1.0, "planner_score": 0.2912718530300421, "height_before": 1.0766537189483643, "height_after": 1.135359525680542}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0748588726205754, "reliability": 1.0, "planner_score": 0.238557438946094, "height_before": 1.135359525680542, "height_after": 1.355384111404419}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0274.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0274.json
new file mode 100644
index 0000000000000000000000000000000000000000..788d21f12789e7965965d9e1ffafe91be1787c3a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0274.json
@@ -0,0 +1 @@
+{"frame_index": 274, "time_norm": 0.8106508875739645, "door_angle": 0.4273010492324829, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27889329195022583, "right_arm_pose_y": -0.4634197950363159, "right_arm_pose_z": 1.0851466655731201, "right_arm_pose_qx": -0.5987353920936584, "right_arm_pose_qy": 0.5335653424263, "right_arm_pose_qz": 0.572959840297699, "right_arm_pose_qw": 0.16894085705280304, "left_arm_pose_x": 0.204545259475708, "left_arm_pose_y": 0.0407845713198185, "left_arm_pose_z": 1.0751053094863892, "left_arm_pose_qx": 0.16534648835659027, "left_arm_pose_qy": 0.6879621148109436, "left_arm_pose_qz": 0.6874719858169556, "left_arm_pose_qw": 0.16355758905410767, "tray_height": 1.0766537189483643, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572281105013981, "pregrasp_distance": 0.0399874715860602, "pregrasp_position_error": 0.0399874715860602, "pregrasp_orientation_error_deg": 9.26285704838505, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0766537189483643, "p_ext_final_height": 1.355384111404419, "p_ext_total_length": 1.9999825564112035, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.19868598449105102, "three_view_visibility": 0.9728395061728395, "three_view_whole_tray_visibility": 0.6858530471399669, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.983333250738358, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.27702702702702703, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 82.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.5945945945945946, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 176.0, "wrist_right_grasp_visibility": 0.8888888888888888, "wrist_right_tray_visibility": 0.4876543209876543, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 80.0, "wrist_right_tray_projected_count": 162.0, "wrist_right_tray_visible_count": 79.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.5743243243243243, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 170.0, "over_shoulder_right_grasp_visibility": 0.5222222222222223, "over_shoulder_right_tray_visibility": 0.6925675675675675, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 47.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 205.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0275.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0275.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4164c1360b8943dc91ea91b7dc4e159c3e68539
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0275.debug.json
@@ -0,0 +1 @@
+{"frame_index": 275, "state": {"door_angle": 0.415995717048645, "tray_height": 1.078729271888733, "tray_grasped_left": true, "left_arm_pose": [0.19997869431972504, 0.027733515948057175, 1.0772387981414795, 0.165312260389328, 0.6878989338874817, 0.6875272989273071, 0.16362500190734863], "right_arm_pose": [0.2788897454738617, -0.4634467363357544, 1.0851441621780396, -0.5987489819526672, 0.5335485339164734, 0.5729620456695557, 0.16893835365772247], "left_arm_joint_positions": [-0.004977703094482422, -0.1499478816986084, -0.579155445098877, -2.6881675720214844, 1.5033152103424072, 1.623335838317871, -0.13310253620147705], "right_arm_joint_positions": [1.7528772354125977, 0.38932251930236816, -1.0873613357543945, -2.1253302097320557, -0.9718707799911499, 1.835050344467163, -2.897303581237793], "pregrasp_goal_pose": [0.19507279847725437, -0.011653079719627257, 1.0719667792626855, 0.19331266054010557, 0.7353801503374496, 0.6276231449808928, 0.16713897704864977], "pregrasp_position_error": 0.04003955438519752, "pregrasp_orientation_error_deg": 9.339753802456345}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.5555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 50, "tray_visibility": 0.30405405405405406, "tray_projected_count": 296, "tray_visible_count": 90}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.5878378378378378, "tray_projected_count": 296, "tray_visible_count": 174}, "wrist_right": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.4588235294117647, "tray_projected_count": 170, "tray_visible_count": 78}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6351351351351351, "tray_projected_count": 296, "tray_visible_count": 188}, "over_shoulder_right": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.078729271888733, "final_height": 1.362738847732544, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.047156169334692, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.19203094449450464, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 0.9720956333076719, "reliability": 1.0, "planner_score": 0.27358921549066545, "height_before": 1.078729271888733, "height_after": 1.1354340314865112}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.07506053602702, "reliability": 1.0, "planner_score": 0.2384933031613469, "height_before": 1.1354340314865112, "height_after": 1.362738847732544}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0275.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0275.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae45a065e90b03e7d8cc9dbebe16f5a6b3fca807
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0275.json
@@ -0,0 +1 @@
+{"frame_index": 275, "time_norm": 0.8136094674556213, "door_angle": 0.415995717048645, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788897454738617, "right_arm_pose_y": -0.4634467363357544, "right_arm_pose_z": 1.0851441621780396, "right_arm_pose_qx": -0.5987489819526672, "right_arm_pose_qy": 0.5335485339164734, "right_arm_pose_qz": 0.5729620456695557, "right_arm_pose_qw": 0.16893835365772247, "left_arm_pose_x": 0.19997869431972504, "left_arm_pose_y": 0.027733515948057175, "left_arm_pose_z": 1.0772387981414795, "left_arm_pose_qx": 0.165312260389328, "left_arm_pose_qy": 0.6878989338874817, "left_arm_pose_qz": 0.6875272989273071, "left_arm_pose_qw": 0.16362500190734863, "tray_height": 1.078729271888733, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8570421506005317, "pregrasp_distance": 0.04003955438519752, "pregrasp_position_error": 0.04003955438519752, "pregrasp_orientation_error_deg": 9.339753802456345, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.078729271888733, "p_ext_final_height": 1.362738847732544, "p_ext_total_length": 2.047156169334692, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.19203094449450464, "three_view_visibility": 0.9915500685871056, "three_view_whole_tray_visibility": 0.6805799843029925, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9847454839822607, "front_grasp_visibility": 0.5555555555555556, "front_tray_visibility": 0.30405405405405406, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 50.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 90.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.5878378378378378, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 174.0, "wrist_right_grasp_visibility": 0.9222222222222223, "wrist_right_tray_visibility": 0.4588235294117647, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 83.0, "wrist_right_tray_projected_count": 170.0, "wrist_right_tray_visible_count": 78.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.6351351351351351, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 188.0, "over_shoulder_right_grasp_visibility": 0.6555555555555556, "over_shoulder_right_tray_visibility": 0.6824324324324325, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 59.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 202.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0276.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0276.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ad88374075149ac2d8ed10b2b60a5824f829625
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0276.debug.json
@@ -0,0 +1 @@
+{"frame_index": 276, "state": {"door_angle": 0.40728461742401123, "tray_height": 1.0807812213897705, "tray_grasped_left": true, "left_arm_pose": [0.19540509581565857, 0.014590702950954437, 1.079323410987854, 0.16533847153186798, 0.687860906124115, 0.6875523328781128, 0.1636531800031662], "right_arm_pose": [0.27887457609176636, -0.4634770452976227, 1.0851936340332031, -0.5987666249275208, 0.5335496068000793, 0.5729520916938782, 0.16890613734722137], "left_arm_joint_positions": [-0.023945331573486328, -0.14977049827575684, -0.5995879173278809, -2.680471420288086, 1.4704082012176514, 1.600703239440918, -0.1257563829421997], "right_arm_joint_positions": [1.752868413925171, 0.38924121856689453, -1.0874269008636475, -2.125181198120117, -0.9718791246414185, 1.835066318511963, -2.897315740585327], "pregrasp_goal_pose": [0.19052210890466076, -0.024725853578393478, 1.0738861134362387, 0.19308419124017248, 0.7352553933939849, 0.6277447268018304, 0.16749495380661641], "pregrasp_position_error": 0.03998999103729817, "pregrasp_orientation_error_deg": 9.317508005761642}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.35135135135135137, "tray_projected_count": 296, "tray_visible_count": 104}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.652027027027027, "tray_projected_count": 296, "tray_visible_count": 193}, "wrist_right": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.46511627906976744, "tray_projected_count": 172, "tray_visible_count": 80}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6182432432432432, "tray_projected_count": 296, "tray_visible_count": 183}, "over_shoulder_right": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0807812213897705, "final_height": 1.3545191287994385, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.095082409384677, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.18567910830281012, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.020117277270615, "reliability": 1.0, "planner_score": 0.256620646124067, "height_before": 1.0807812213897705, "height_after": 1.1357412338256836}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749651321140616, "reliability": 1.0, "planner_score": 0.23852364268342668, "height_before": 1.1357412338256836, "height_after": 1.3545191287994385}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0276.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0276.json
new file mode 100644
index 0000000000000000000000000000000000000000..a225b116a29dd3e7c06e236df81214c26768328d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0276.json
@@ -0,0 +1 @@
+{"frame_index": 276, "time_norm": 0.8165680473372781, "door_angle": 0.40728461742401123, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27887457609176636, "right_arm_pose_y": -0.4634770452976227, "right_arm_pose_z": 1.0851936340332031, "right_arm_pose_qx": -0.5987666249275208, "right_arm_pose_qy": 0.5335496068000793, "right_arm_pose_qz": 0.5729520916938782, "right_arm_pose_qw": 0.16890613734722137, "left_arm_pose_x": 0.19540509581565857, "left_arm_pose_y": 0.014590702950954437, "left_arm_pose_z": 1.079323410987854, "left_arm_pose_qx": 0.16533847153186798, "left_arm_pose_qy": 0.687860906124115, "left_arm_pose_qz": 0.6875523328781128, "left_arm_pose_qw": 0.1636531800031662, "tray_height": 1.0807812213897705, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572191069546328, "pregrasp_distance": 0.03998999103729817, "pregrasp_position_error": 0.03998999103729817, "pregrasp_orientation_error_deg": 9.317508005761642, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0807812213897705, "p_ext_final_height": 1.3545191287994385, "p_ext_total_length": 2.095082409384677, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.18567910830281012, "three_view_visibility": 0.9925459533607681, "three_view_whole_tray_visibility": 0.7057499065152877, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9873226530089461, "front_grasp_visibility": 0.7888888888888889, "front_tray_visibility": 0.35135135135135137, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 71.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 104.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.652027027027027, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 193.0, "wrist_right_grasp_visibility": 0.8555555555555555, "wrist_right_tray_visibility": 0.46511627906976744, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 77.0, "wrist_right_tray_projected_count": 172.0, "wrist_right_tray_visible_count": 80.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.6182432432432432, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 183.0, "over_shoulder_right_grasp_visibility": 0.6444444444444445, "over_shoulder_right_tray_visibility": 0.6756756756756757, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 58.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 200.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0277.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0277.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c364ee2a7ac330b96e67d0846a520cb2af54562
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0277.debug.json
@@ -0,0 +1 @@
+{"frame_index": 277, "state": {"door_angle": 0.40700995922088623, "tray_height": 1.0827865600585938, "tray_grasped_left": true, "left_arm_pose": [0.19089946150779724, 0.0018708407878875732, 1.081275224685669, 0.16538871824741364, 0.6878551244735718, 0.6875588893890381, 0.16359910368919373], "right_arm_pose": [0.2788715362548828, -0.4635208249092102, 1.085233211517334, -0.5987514853477478, 0.5335796475410461, 0.5729618668556213, 0.16883224248886108], "left_arm_joint_positions": [-0.04187417030334473, -0.14785122871398926, -0.6194097995758057, -2.671217441558838, 1.4396188259124756, 1.5778157711029053, -0.11907947063446045], "right_arm_joint_positions": [1.7528681755065918, 0.38930654525756836, -1.0873651504516602, -2.124978542327881, -0.971877932548523, 1.8350112438201904, -2.8972880840301514], "pregrasp_goal_pose": [0.1859678667379322, -0.037449376575255475, 1.0759052946569048, 0.19329505825558715, 0.7350570013596672, 0.627976657473013, 0.16725293084166093], "pregrasp_position_error": 0.039990452222659345, "pregrasp_orientation_error_deg": 9.290947819585694}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.36824324324324326, "tray_projected_count": 296, "tray_visible_count": 109}, "overhead": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}, "wrist_right": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.4827586206896552, "tray_projected_count": 174, "tray_visible_count": 84}, "wrist_left": {"grasp_visibility": 0.7555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 68, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6216216216216216, "tray_projected_count": 296, "tray_visible_count": 184}, "over_shoulder_right": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0827865600585938, "final_height": 1.3629581928253174, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.1425657121755086, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.17977549859079575, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0674914781596843, "reliability": 1.0, "planner_score": 0.24091238221246006, "height_before": 1.0827865600585938, "height_after": 1.1354219913482666}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750742340158244, "reliability": 1.0, "planner_score": 0.23848894736299528, "height_before": 1.1354219913482666, "height_after": 1.3629581928253174}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0277.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0277.json
new file mode 100644
index 0000000000000000000000000000000000000000..279e2481def93d89862f86afbf6c560d9e448e95
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0277.json
@@ -0,0 +1 @@
+{"frame_index": 277, "time_norm": 0.8195266272189349, "door_angle": 0.40700995922088623, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788715362548828, "right_arm_pose_y": -0.4635208249092102, "right_arm_pose_z": 1.085233211517334, "right_arm_pose_qx": -0.5987514853477478, "right_arm_pose_qy": 0.5335796475410461, "right_arm_pose_qz": 0.5729618668556213, "right_arm_pose_qw": 0.16883224248886108, "left_arm_pose_x": 0.19089946150779724, "left_arm_pose_y": 0.0018708407878875732, "left_arm_pose_z": 1.081275224685669, "left_arm_pose_qx": 0.16538871824741364, "left_arm_pose_qy": 0.6878551244735718, "left_arm_pose_qz": 0.6875588893890381, "left_arm_pose_qw": 0.16359910368919373, "tray_height": 1.0827865600585938, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572174621565457, "pregrasp_distance": 0.039990452222659345, "pregrasp_position_error": 0.039990452222659345, "pregrasp_orientation_error_deg": 9.290947819585694, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0827865600585938, "p_ext_final_height": 1.3629581928253174, "p_ext_total_length": 2.1425657121755086, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.17977549859079575, "three_view_visibility": 0.998551440329218, "three_view_whole_tray_visibility": 0.7228653249495677, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9882997551458877, "front_grasp_visibility": 0.9555555555555556, "front_tray_visibility": 0.36824324324324326, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 86.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 109.0, "overhead_grasp_visibility": 0.9555555555555556, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 86.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.8666666666666667, "wrist_right_tray_visibility": 0.4827586206896552, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 78.0, "wrist_right_tray_projected_count": 174.0, "wrist_right_tray_visible_count": 84.0, "wrist_left_grasp_visibility": 0.7555555555555555, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.6216216216216216, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 184.0, "over_shoulder_right_grasp_visibility": 0.6444444444444445, "over_shoulder_right_tray_visibility": 0.6824324324324325, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 58.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 202.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0278.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0278.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..199dfe47d3d6d2c988acd53e0b6129c61bcf5122
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0278.debug.json
@@ -0,0 +1 @@
+{"frame_index": 278, "state": {"door_angle": 0.3987678289413452, "tray_height": 1.0845965147018433, "tray_grasped_left": true, "left_arm_pose": [0.18683680891990662, -0.009464651346206665, 1.0831654071807861, 0.16533522307872772, 0.6878139972686768, 0.6876072287559509, 0.16362318396568298], "right_arm_pose": [0.2788785696029663, -0.4634780287742615, 1.0852031707763672, -0.5987438559532166, 0.5335717797279358, 0.5729626417160034, 0.16888083517551422], "left_arm_joint_positions": [-0.05747532844543457, -0.14489078521728516, -0.6371798515319824, -2.661548137664795, 1.4132144451141357, 1.5564780235290527, -0.11358296871185303], "right_arm_joint_positions": [1.7528769969940186, 0.38926172256469727, -1.0873422622680664, -2.1250016689300537, -0.971856951713562, 1.8350143432617188, -2.897294044494629], "pregrasp_goal_pose": [0.1819510734801778, -0.04881061580288666, 1.0775822153782595, 0.19278008048210343, 0.7352049634072358, 0.6278127644888039, 0.1678113080087404], "pregrasp_position_error": 0.04003932267805174, "pregrasp_orientation_error_deg": 9.306405429706057}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.39864864864864863, "tray_projected_count": 296, "tray_visible_count": 118}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6621621621621622, "tray_projected_count": 296, "tray_visible_count": 196}, "wrist_right": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.43103448275862066, "tray_projected_count": 174, "tray_visible_count": 75}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6216216216216216, "tray_projected_count": 296, "tray_visible_count": 184}, "over_shoulder_right": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.722972972972973, "tray_projected_count": 296, "tray_visible_count": 214}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0845965147018433, "final_height": 1.3546186685562134, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.185388067656637, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1747611857828923, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.110205720834652, "reliability": 1.0, "planner_score": 0.22757525719279853, "height_before": 1.0845965147018433, "height_after": 1.1357154846191406}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0751823468219848, "reliability": 1.0, "planner_score": 0.23845457156158087, "height_before": 1.1357154846191406, "height_after": 1.3546186685562134}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0278.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0278.json
new file mode 100644
index 0000000000000000000000000000000000000000..c113c8f4a619e7008502c22054341c8ace1124b3
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0278.json
@@ -0,0 +1 @@
+{"frame_index": 278, "time_norm": 0.8224852071005917, "door_angle": 0.3987678289413452, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788785696029663, "right_arm_pose_y": -0.4634780287742615, "right_arm_pose_z": 1.0852031707763672, "right_arm_pose_qx": -0.5987438559532166, "right_arm_pose_qy": 0.5335717797279358, "right_arm_pose_qz": 0.5729626417160034, "right_arm_pose_qw": 0.16888083517551422, "left_arm_pose_x": 0.18683680891990662, "left_arm_pose_y": -0.009464651346206665, "left_arm_pose_z": 1.0831654071807861, "left_arm_pose_qx": 0.16533522307872772, "left_arm_pose_qy": 0.6878139972686768, "left_arm_pose_qz": 0.6876072287559509, "left_arm_pose_qw": 0.16362318396568298, "tray_height": 1.0845965147018433, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8570429666675463, "pregrasp_distance": 0.04003932267805174, "pregrasp_position_error": 0.04003932267805174, "pregrasp_orientation_error_deg": 9.306405429706057, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0845965147018433, "p_ext_final_height": 1.3546186685562134, "p_ext_total_length": 2.185388067656637, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.1747611857828923, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7098236931824885, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9897241278827728, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.39864864864864863, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 118.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.6621621621621622, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 196.0, "wrist_right_grasp_visibility": 0.9222222222222223, "wrist_right_tray_visibility": 0.43103448275862066, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 83.0, "wrist_right_tray_projected_count": 174.0, "wrist_right_tray_visible_count": 75.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.6216216216216216, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 184.0, "over_shoulder_right_grasp_visibility": 0.6888888888888889, "over_shoulder_right_tray_visibility": 0.722972972972973, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 62.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 214.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0279.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0279.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d2fee79265ec25389167f69edf0937f5cbf5aa
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0279.debug.json
@@ -0,0 +1 @@
+{"frame_index": 279, "state": {"door_angle": 0.3949323892593384, "tray_height": 1.0860570669174194, "tray_grasped_left": true, "left_arm_pose": [0.1834484338760376, -0.01880013197660446, 1.0846505165100098, 0.1653658151626587, 0.6877974271774292, 0.6876338720321655, 0.16354992985725403], "right_arm_pose": [0.2788715958595276, -0.46344250440597534, 1.0852051973342896, -0.5987222194671631, 0.5335840582847595, 0.5729663372039795, 0.16890624165534973], "left_arm_joint_positions": [-0.07001185417175293, -0.14130187034606934, -0.6516249179840088, -2.652803897857666, 1.392284631729126, 1.5384504795074463, -0.10939633846282959], "right_arm_joint_positions": [1.7528576850891113, 0.3892648220062256, -1.0874216556549072, -2.1251115798950195, -0.9718683958053589, 1.8350622653961182, -2.8973093032836914], "pregrasp_goal_pose": [0.17854943358872666, -0.05813967451525308, 1.0795119271217644, 0.1937041262151837, 0.7355800674620848, 0.6274192245608065, 0.16657068316844717], "pregrasp_position_error": 0.03997505361930369, "pregrasp_orientation_error_deg": 9.397162484923014}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.40540540540540543, "tray_projected_count": 296, "tray_visible_count": 120}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6891891891891891, "tray_projected_count": 296, "tray_visible_count": 204}, "wrist_right": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.45454545454545453, "tray_projected_count": 176, "tray_visible_count": 80}, "wrist_left": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.1518987341772152, "tray_projected_count": 158, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.6452702702702703, "tray_projected_count": 296, "tray_visible_count": 191}, "over_shoulder_right": {"grasp_visibility": 0.6333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 57, "tray_visibility": 0.6858108108108109, "tray_projected_count": 296, "tray_visible_count": 203}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0860570669174194, "final_height": 1.36204993724823, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.2208102227147046, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.17082709097663684, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.145889549566694, "reliability": 1.0, "planner_score": 0.2170011268158061, "height_before": 1.0860570669174194, "height_after": 1.1352568864822388}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0749206731480108, "reliability": 1.0, "planner_score": 0.23853778245522547, "height_before": 1.1352568864822388, "height_after": 1.36204993724823}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0279.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0279.json
new file mode 100644
index 0000000000000000000000000000000000000000..de456849e5762cb31701044037ae6f951c2850cb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0279.json
@@ -0,0 +1 @@
+{"frame_index": 279, "time_norm": 0.8254437869822485, "door_angle": 0.3949323892593384, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788715958595276, "right_arm_pose_y": -0.46344250440597534, "right_arm_pose_z": 1.0852051973342896, "right_arm_pose_qx": -0.5987222194671631, "right_arm_pose_qy": 0.5335840582847595, "right_arm_pose_qz": 0.5729663372039795, "right_arm_pose_qw": 0.16890624165534973, "left_arm_pose_x": 0.1834484338760376, "left_arm_pose_y": -0.01880013197660446, "left_arm_pose_z": 1.0846505165100098, "left_arm_pose_qx": 0.1653658151626587, "left_arm_pose_qy": 0.6877974271774292, "left_arm_pose_qz": 0.6876338720321655, "left_arm_pose_qw": 0.16354992985725403, "tray_height": 1.0860570669174194, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572724454148128, "pregrasp_distance": 0.03997505361930369, "pregrasp_position_error": 0.03997505361930369, "pregrasp_orientation_error_deg": 9.397162484923014, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0860570669174194, "p_ext_final_height": 1.36204993724823, "p_ext_total_length": 2.2208102227147046, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.17082709097663684, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7249401300034213, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9904717712453666, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.40540540540540543, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 120.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.6891891891891891, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 204.0, "wrist_right_grasp_visibility": 0.9222222222222223, "wrist_right_tray_visibility": 0.45454545454545453, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 83.0, "wrist_right_tray_projected_count": 176.0, "wrist_right_tray_visible_count": 80.0, "wrist_left_grasp_visibility": 0.7777777777777778, "wrist_left_tray_visibility": 0.1518987341772152, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 70.0, "wrist_left_tray_projected_count": 158.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.6452702702702703, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 191.0, "over_shoulder_right_grasp_visibility": 0.6333333333333333, "over_shoulder_right_tray_visibility": 0.6858108108108109, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 57.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 203.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0280.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0280.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3adbdce0d7196b5069311bc04664b10d1e46e624
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0280.debug.json
@@ -0,0 +1 @@
+{"frame_index": 280, "state": {"door_angle": 0.39350903034210205, "tray_height": 1.0872020721435547, "tray_grasped_left": true, "left_arm_pose": [0.18081435561180115, -0.025725342333316803, 1.085692048072815, 0.16542088985443115, 0.6878140568733215, 0.6876398324966431, 0.16339902579784393], "right_arm_pose": [0.2788683772087097, -0.4634423851966858, 1.0851866006851196, -0.5987384915351868, 0.5335538387298584, 0.5729712843894958, 0.16892731189727783], "left_arm_joint_positions": [-0.0792093276977539, -0.13808107376098633, -0.6623129844665527, -2.645939350128174, 1.3770737648010254, 1.5247111320495605, -0.10640132427215576], "right_arm_joint_positions": [1.7528316974639893, 0.3893280029296875, -1.087411642074585, -2.1252126693725586, -0.9719029664993286, 1.8350176811218262, -2.8973186016082764], "pregrasp_goal_pose": [0.17590168181523, -0.06504251411786403, 1.08060497620914, 0.19369749910627745, 0.7354206663748193, 0.6276052859284073, 0.166581293618199], "pregrasp_position_error": 0.03994812462573564, "pregrasp_orientation_error_deg": 9.368483012388245}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4560810810810811, "tray_projected_count": 296, "tray_visible_count": 135}, "overhead": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7128378378378378, "tray_projected_count": 296, "tray_visible_count": 211}, "wrist_right": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.5028248587570622, "tray_projected_count": 177, "tray_visible_count": 89}, "wrist_left": {"grasp_visibility": 0.7738095238095238, "grasp_projected_count": 84, "grasp_visible_count": 65, "tray_visibility": 0.15384615384615385, "tray_projected_count": 156, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7297297297297297, "tray_projected_count": 296, "tray_visible_count": 216}, "over_shoulder_right": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.7094594594594594, "tray_projected_count": 296, "tray_visible_count": 210}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0872020721435547, "final_height": 1.3635756969451904, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.2480654298255223, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.16791815973897287, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.1728148518237829, "reliability": 1.0, "planner_score": 0.20934888013791403, "height_before": 1.0872020721435547, "height_after": 1.1353939771652222}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0752505780017394, "reliability": 1.0, "planner_score": 0.23843287916601358, "height_before": 1.1353939771652222, "height_after": 1.3635756969451904}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0280.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0280.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b50de8c190b18a1307a0919c38d5169c78f7a68
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0280.json
@@ -0,0 +1 @@
+{"frame_index": 280, "time_norm": 0.8284023668639053, "door_angle": 0.39350903034210205, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788683772087097, "right_arm_pose_y": -0.4634423851966858, "right_arm_pose_z": 1.0851866006851196, "right_arm_pose_qx": -0.5987384915351868, "right_arm_pose_qy": 0.5335538387298584, "right_arm_pose_qz": 0.5729712843894958, "right_arm_pose_qw": 0.16892731189727783, "left_arm_pose_x": 0.18081435561180115, "left_arm_pose_y": -0.025725342333316803, "left_arm_pose_z": 1.085692048072815, "left_arm_pose_qx": 0.16542088985443115, "left_arm_pose_qy": 0.6878140568733215, "left_arm_pose_qz": 0.6876398324966431, "left_arm_pose_qw": 0.16339902579784393, "tray_height": 1.0872020721435547, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8573685981179864, "pregrasp_distance": 0.03994812462573564, "pregrasp_position_error": 0.03994812462573564, "pregrasp_orientation_error_deg": 9.368483012388245, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0872020721435547, "p_ext_final_height": 1.3635756969451904, "p_ext_total_length": 2.2480654298255223, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.16791815973897287, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7711805677907373, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9948402918834716, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.4560810810810811, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 135.0, "overhead_grasp_visibility": 1.0, "overhead_tray_visibility": 0.7128378378378378, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 90.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 211.0, "wrist_right_grasp_visibility": 0.9222222222222223, "wrist_right_tray_visibility": 0.5028248587570622, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 83.0, "wrist_right_tray_projected_count": 177.0, "wrist_right_tray_visible_count": 89.0, "wrist_left_grasp_visibility": 0.7738095238095238, "wrist_left_tray_visibility": 0.15384615384615385, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 65.0, "wrist_left_tray_projected_count": 156.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.7297297297297297, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 216.0, "over_shoulder_right_grasp_visibility": 0.6222222222222222, "over_shoulder_right_tray_visibility": 0.7094594594594594, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 56.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 210.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0281.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0281.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a118090ed7f9ce4a099f2be3a3d8511ecd09a454
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0281.debug.json
@@ -0,0 +1 @@
+{"frame_index": 281, "state": {"door_angle": 0.39294302463531494, "tray_height": 1.0878247022628784, "tray_grasped_left": true, "left_arm_pose": [0.17915411293506622, -0.030190765857696533, 1.0864261388778687, 0.16540348529815674, 0.6878452897071838, 0.6876267790794373, 0.16334007680416107], "right_arm_pose": [0.2788934111595154, -0.4634096324443817, 1.0851531028747559, -0.5987266302108765, 0.5335846543312073, 0.572948157787323, 0.1689506471157074], "left_arm_joint_positions": [-0.08496379852294922, -0.13603949546813965, -0.6690616607666016, -2.64109468460083, 1.3675625324249268, 1.5158226490020752, -0.10460269451141357], "right_arm_joint_positions": [1.7528493404388428, 0.3892204761505127, -1.0873620510101318, -2.125232458114624, -0.971805214881897, 1.8350181579589844, -2.8972842693328857], "pregrasp_goal_pose": [0.1742588850691961, -0.06957388197288084, 1.0813228682837435, 0.19364802612669674, 0.7357315872220966, 0.6272736833090811, 0.16651486350697745], "pregrasp_position_error": 0.04001295367200157, "pregrasp_orientation_error_deg": 9.412718227536633}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.4527027027027027, "tray_projected_count": 296, "tray_visible_count": 134}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.7466216216216216, "tray_projected_count": 296, "tray_visible_count": 221}, "wrist_right": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.5224719101123596, "tray_projected_count": 178, "tray_visible_count": 93}, "wrist_left": {"grasp_visibility": 0.8095238095238095, "grasp_projected_count": 84, "grasp_visible_count": 68, "tray_visibility": 0.15584415584415584, "tray_projected_count": 154, "tray_visible_count": 24}, "over_shoulder_left": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.5878378378378378, "tray_projected_count": 296, "tray_visible_count": 174}, "over_shoulder_right": {"grasp_visibility": 0.6333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 57, "tray_visibility": 0.7297297297297297, "tray_projected_count": 296, "tray_visible_count": 216}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0878247022628784, "final_height": 1.3621079921722412, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.2653933014120016, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.16612679453421914, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.1902387763508306, "reliability": 1.0, "planner_score": 0.20454136806419407, "height_before": 1.0878247022628784, "height_after": 1.1352452039718628}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0751545250611707, "reliability": 1.0, "planner_score": 0.2384634173603903, "height_before": 1.1352452039718628, "height_after": 1.3621079921722412}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0281.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0281.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b64aa21a4432ec85b1ff80471eee4bdf0b64393
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0281.json
@@ -0,0 +1 @@
+{"frame_index": 281, "time_norm": 0.8313609467455622, "door_angle": 0.39294302463531494, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788934111595154, "right_arm_pose_y": -0.4634096324443817, "right_arm_pose_z": 1.0851531028747559, "right_arm_pose_qx": -0.5987266302108765, "right_arm_pose_qy": 0.5335846543312073, "right_arm_pose_qz": 0.572948157787323, "right_arm_pose_qw": 0.1689506471157074, "left_arm_pose_x": 0.17915411293506622, "left_arm_pose_y": -0.030190765857696533, "left_arm_pose_z": 1.0864261388778687, "left_arm_pose_qx": 0.16540348529815674, "left_arm_pose_qy": 0.6878452897071838, "left_arm_pose_qz": 0.6876267790794373, "left_arm_pose_qw": 0.16334007680416107, "tray_height": 1.0878247022628784, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571371245564916, "pregrasp_distance": 0.04001295367200157, "pregrasp_position_error": 0.04001295367200157, "pregrasp_orientation_error_deg": 9.412718227536633, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0878247022628784, "p_ext_final_height": 1.3621079921722412, "p_ext_total_length": 2.2653933014120016, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.16612679453421914, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7793800111215842, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9937729721763843, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.4527027027027027, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 134.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.7466216216216216, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 221.0, "wrist_right_grasp_visibility": 0.9666666666666667, "wrist_right_tray_visibility": 0.5224719101123596, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 87.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 93.0, "wrist_left_grasp_visibility": 0.8095238095238095, "wrist_left_tray_visibility": 0.15584415584415584, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 154.0, "wrist_left_tray_visible_count": 24.0, "over_shoulder_left_grasp_visibility": 0.9777777777777777, "over_shoulder_left_tray_visibility": 0.5878378378378378, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 88.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 174.0, "over_shoulder_right_grasp_visibility": 0.6333333333333333, "over_shoulder_right_tray_visibility": 0.7297297297297297, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 57.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 216.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0285.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0285.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad056dcf63efc36c99d0591eed72f4367d5507fa
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0285.debug.json
@@ -0,0 +1 @@
+{"frame_index": 285, "state": {"door_angle": 0.39351022243499756, "tray_height": 1.0886075496673584, "tray_grasped_left": true, "left_arm_pose": [0.1777757853269577, -0.03353555500507355, 1.0872855186462402, 0.16550056636333466, 0.6878489255905151, 0.6876623630523682, 0.1630765050649643], "right_arm_pose": [0.2788844704627991, -0.4634608030319214, 1.085178017616272, -0.5987350940704346, 0.5335426926612854, 0.5729902982711792, 0.16891004145145416], "left_arm_joint_positions": [-0.08939623832702637, -0.13554763793945312, -0.6739463806152344, -2.6377720832824707, 1.3600990772247314, 1.509697675704956, -0.10186827182769775], "right_arm_joint_positions": [1.752835750579834, 0.38927626609802246, -1.0873241424560547, -2.1252057552337646, -0.9719434976577759, 1.8350584506988525, -2.8973019123077393], "pregrasp_goal_pose": [0.17286840059879743, -0.07290983522521641, 1.082145449426104, 0.19393909876284304, 0.7354448764655309, 0.6276558055156671, 0.16600195617562868], "pregrasp_position_error": 0.04001045712451066, "pregrasp_orientation_error_deg": 9.370756120773125}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.42905405405405406, "tray_projected_count": 296, "tray_visible_count": 127}, "overhead": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}, "wrist_right": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.5449438202247191, "tray_projected_count": 178, "tray_visible_count": 97}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9, "grasp_projected_count": 90, "grasp_visible_count": 81, "tray_visibility": 0.7162162162162162, "tray_projected_count": 296, "tray_visible_count": 212}, "over_shoulder_right": {"grasp_visibility": 0.5222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 47, "tray_visibility": 0.6858108108108109, "tray_projected_count": 296, "tray_visible_count": 203}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0886075496673584, "final_height": 1.362945318222046, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.2787744173269564, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1647700937708026, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.2036017428816443, "reliability": 1.0, "planner_score": 0.20092926991081544, "height_before": 1.0886075496673584, "height_after": 1.1352040767669678}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0751726744453118, "reliability": 1.0, "planner_score": 0.23845764681132484, "height_before": 1.1352040767669678, "height_after": 1.362945318222046}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0285.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0285.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe69e59f642e564261819dec504d65f47d2e6ec4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0285.json
@@ -0,0 +1 @@
+{"frame_index": 285, "time_norm": 0.8431952662721893, "door_angle": 0.39351022243499756, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788844704627991, "right_arm_pose_y": -0.4634608030319214, "right_arm_pose_z": 1.085178017616272, "right_arm_pose_qx": -0.5987350940704346, "right_arm_pose_qy": 0.5335426926612854, "right_arm_pose_qz": 0.5729902982711792, "right_arm_pose_qw": 0.16891004145145416, "left_arm_pose_x": 0.1777757853269577, "left_arm_pose_y": -0.03353555500507355, "left_arm_pose_z": 1.0872855186462402, "left_arm_pose_qx": 0.16550056636333466, "left_arm_pose_qy": 0.6878489255905151, "left_arm_pose_qz": 0.6876623630523682, "left_arm_pose_qw": 0.1630765050649643, "tray_height": 1.0886075496673584, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571460290629751, "pregrasp_distance": 0.04001045712451066, "pregrasp_position_error": 0.04001045712451066, "pregrasp_orientation_error_deg": 9.370756120773125, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0886075496673584, "p_ext_final_height": 1.362945318222046, "p_ext_total_length": 2.2787744173269564, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.1647700937708026, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7703107051849113, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9928044963945123, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.42905405405405406, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 127.0, "overhead_grasp_visibility": 0.7444444444444445, "overhead_tray_visibility": 0.6486486486486487, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 67.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 192.0, "wrist_right_grasp_visibility": 0.9777777777777777, "wrist_right_tray_visibility": 0.5449438202247191, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 88.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 97.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9, "over_shoulder_left_tray_visibility": 0.7162162162162162, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 81.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 212.0, "over_shoulder_right_grasp_visibility": 0.5222222222222223, "over_shoulder_right_tray_visibility": 0.6858108108108109, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 47.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 203.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0286.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0286.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..681ba11982364a688a21b102d858838615485312
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0286.debug.json
@@ -0,0 +1 @@
+{"frame_index": 286, "state": {"door_angle": 0.39351141452789307, "tray_height": 1.0901082754135132, "tray_grasped_left": true, "left_arm_pose": [0.17768257856369019, -0.03358063846826553, 1.0888715982437134, 0.16565701365470886, 0.6878572106361389, 0.6876536011695862, 0.16291962563991547], "right_arm_pose": [0.2788817584514618, -0.46346315741539, 1.0851891040802002, -0.5987328290939331, 0.5335618853569031, 0.5729740858078003, 0.16891302168369293], "left_arm_joint_positions": [-0.08979225158691406, -0.14084625244140625, -0.6731972694396973, -2.6378960609436035, 1.3588433265686035, 1.5118074417114258, -0.09686148166656494], "right_arm_joint_positions": [1.7528471946716309, 0.3893096446990967, -1.0873851776123047, -2.1250693798065186, -0.971882700920105, 1.8350207805633545, -2.8973116874694824], "pregrasp_goal_pose": [0.17279155420497655, -0.0729236275113477, 1.083807992864974, 0.19414660493354122, 0.7357300126688524, 0.6273200971199497, 0.16576471277231128], "pregrasp_position_error": 0.03996789968904061, "pregrasp_orientation_error_deg": 9.418485245155672}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.42567567567567566, "tray_projected_count": 296, "tray_visible_count": 126}, "overhead": {"grasp_visibility": 0.7444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 67, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "wrist_right": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.47191011235955055, "tray_projected_count": 178, "tray_visible_count": 84}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "over_shoulder_right": {"grasp_visibility": 0.5333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 48, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0901082754135132, "final_height": 1.3628751039505005, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.278068243599347, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.16483990507505403, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.2028329985217492, "reliability": 1.0, "planner_score": 0.20113532648663773, "height_before": 1.0901082754135132, "height_after": 1.1351944208145142}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0752352450775977, "reliability": 1.0, "planner_score": 0.2384377537135063, "height_before": 1.1351944208145142, "height_after": 1.3628751039505005}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0286.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0286.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e67b5d38c10f15c6a46948a48dfac54e5af0cc
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0286.json
@@ -0,0 +1 @@
+{"frame_index": 286, "time_norm": 0.8461538461538461, "door_angle": 0.39351141452789307, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788817584514618, "right_arm_pose_y": -0.46346315741539, "right_arm_pose_z": 1.0851891040802002, "right_arm_pose_qx": -0.5987328290939331, "right_arm_pose_qy": 0.5335618853569031, "right_arm_pose_qz": 0.5729740858078003, "right_arm_pose_qw": 0.16891302168369293, "left_arm_pose_x": 0.17768257856369019, "left_arm_pose_y": -0.03358063846826553, "left_arm_pose_z": 1.0888715982437134, "left_arm_pose_qx": 0.16565701365470886, "left_arm_pose_qy": 0.6878572106361389, "left_arm_pose_qz": 0.6876536011695862, "left_arm_pose_qw": 0.16291962563991547, "tray_height": 1.0901082754135132, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572979848481683, "pregrasp_distance": 0.03996789968904061, "pregrasp_position_error": 0.03996789968904061, "pregrasp_orientation_error_deg": 9.418485245155672, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0901082754135132, "p_ext_final_height": 1.3628751039505005, "p_ext_total_length": 2.278068243599347, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.16483990507505403, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.7318697544637944, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9917808919389572, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.42567567567567566, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 126.0, "overhead_grasp_visibility": 0.7444444444444445, "overhead_tray_visibility": 0.6925675675675675, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 67.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 205.0, "wrist_right_grasp_visibility": 0.8555555555555555, "wrist_right_tray_visibility": 0.47191011235955055, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 77.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 84.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.8777777777777778, "over_shoulder_left_tray_visibility": 0.6925675675675675, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 79.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 205.0, "over_shoulder_right_grasp_visibility": 0.5333333333333333, "over_shoulder_right_tray_visibility": 0.6756756756756757, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 48.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 200.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0287.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0287.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf302fcffc13e4e5f89ef1aa279c2bed7f0e9dea
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0287.debug.json
@@ -0,0 +1 @@
+{"frame_index": 287, "state": {"door_angle": 0.39405691623687744, "tray_height": 1.093878984451294, "tray_grasped_left": true, "left_arm_pose": [0.17765885591506958, -0.03361251950263977, 1.092498779296875, 0.1656181812286377, 0.6878505349159241, 0.6876689195632935, 0.16292279958724976], "right_arm_pose": [0.2789068818092346, -0.4634350836277008, 1.0851234197616577, -0.5987539887428284, 0.533536970615387, 0.5729633569717407, 0.16895253956317902], "left_arm_joint_positions": [-0.0905158519744873, -0.15207123756408691, -0.6713926792144775, -2.6377205848693848, 1.3565809726715088, 1.5160584449768066, -0.08686172962188721], "right_arm_joint_positions": [1.7528536319732666, 0.3892955780029297, -1.0873606204986572, -2.125182628631592, -0.9719034433364868, 1.8350512981414795, -2.897308588027954], "pregrasp_goal_pose": [0.17283334019728436, -0.07292094992103827, 1.087198286798046, 0.19360188097237804, 0.7350928094497322, 0.6280891974774264, 0.16631546287528223], "pregrasp_position_error": 0.03995664556279481, "pregrasp_orientation_error_deg": 9.295190923074443}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.42905405405405406, "tray_projected_count": 296, "tray_visible_count": 127}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "wrist_right": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.34831460674157305, "tray_projected_count": 178, "tray_visible_count": 62}, "wrist_left": {"grasp_visibility": 0.8095238095238095, "grasp_projected_count": 84, "grasp_visible_count": 68, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7027027027027027, "tray_projected_count": 296, "tray_visible_count": 208}, "over_shoulder_right": {"grasp_visibility": 0.5222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 47, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.093878984451294, "final_height": 1.3528268337249756, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.2763210817463952, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.16501437777750938, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.2010075923312047, "reliability": 1.0, "planner_score": 0.20162546093446307, "height_before": 1.093878984451294, "height_after": 1.13534414768219}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0753134894151906, "reliability": 1.0, "planner_score": 0.23841287980556194, "height_before": 1.13534414768219, "height_after": 1.3528268337249756}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0287.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0287.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5055d599eea73ba63e2246ce77ffea57e9d37af
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0287.json
@@ -0,0 +1 @@
+{"frame_index": 287, "time_norm": 0.849112426035503, "door_angle": 0.39405691623687744, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2789068818092346, "right_arm_pose_y": -0.4634350836277008, "right_arm_pose_z": 1.0851234197616577, "right_arm_pose_qx": -0.5987539887428284, "right_arm_pose_qy": 0.533536970615387, "right_arm_pose_qz": 0.5729633569717407, "right_arm_pose_qw": 0.16895253956317902, "left_arm_pose_x": 0.17765885591506958, "left_arm_pose_y": -0.03361251950263977, "left_arm_pose_z": 1.092498779296875, "left_arm_pose_qx": 0.1656181812286377, "left_arm_pose_qy": 0.6878505349159241, "left_arm_pose_qz": 0.6876689195632935, "left_arm_pose_qw": 0.16292279958724976, "tray_height": 1.093878984451294, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8573381655371592, "pregrasp_distance": 0.03995664556279481, "pregrasp_position_error": 0.03995664556279481, "pregrasp_orientation_error_deg": 9.295190923074443, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.093878984451294, "p_ext_final_height": 1.3528268337249756, "p_ext_total_length": 2.2763210817463952, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.16501437777750938, "three_view_visibility": 1.0, "three_view_whole_tray_visibility": 0.6710622444623422, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9904524814764302, "front_grasp_visibility": 1.0, "front_tray_visibility": 0.42905405405405406, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 90.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 127.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.6925675675675675, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 205.0, "wrist_right_grasp_visibility": 0.8222222222222222, "wrist_right_tray_visibility": 0.34831460674157305, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 74.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 62.0, "wrist_left_grasp_visibility": 0.8095238095238095, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.7027027027027027, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 208.0, "over_shoulder_right_grasp_visibility": 0.5222222222222223, "over_shoulder_right_tray_visibility": 0.6824324324324325, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 47.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 202.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0288.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0288.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecd8a2fbdc6c8bc4326915ab535781e4da5b4415
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0288.debug.json
@@ -0,0 +1 @@
+{"frame_index": 288, "state": {"door_angle": 0.3935755491256714, "tray_height": 1.0997834205627441, "tray_grasped_left": true, "left_arm_pose": [0.17771100997924805, -0.03361547738313675, 1.0983105897903442, 0.16556864976882935, 0.6878606677055359, 0.6876730918884277, 0.16291262209415436], "right_arm_pose": [0.2788779139518738, -0.46349889039993286, 1.085201382637024, -0.5987504124641418, 0.5335639715194702, 0.5729668736457825, 0.16886791586875916], "left_arm_joint_positions": [-0.09174108505249023, -0.16928958892822266, -0.6682736873626709, -2.6372103691101074, 1.3532230854034424, 1.5226531028747559, -0.0708078145980835], "right_arm_joint_positions": [1.7528626918792725, 0.38935041427612305, -1.0873656272888184, -2.125009536743164, -0.971885085105896, 1.8350684642791748, -2.897324562072754], "pregrasp_goal_pose": [0.17284664297188151, -0.07295102757188085, 1.0928683918581155, 0.19318831403675815, 0.7348243009943797, 0.6283963325143558, 0.16682197478229122], "pregrasp_position_error": 0.04000706304350667, "pregrasp_orientation_error_deg": 9.239353897056693}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.4155405405405405, "tray_projected_count": 296, "tray_visible_count": 123}, "overhead": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.6722972972972973, "tray_projected_count": 296, "tray_visible_count": 199}, "wrist_right": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.24157303370786518, "tray_projected_count": 178, "tray_visible_count": 43}, "wrist_left": {"grasp_visibility": 0.75, "grasp_projected_count": 84, "grasp_visible_count": 63, "tray_visibility": 0.10144927536231885, "tray_projected_count": 138, "tray_visible_count": 14}, "over_shoulder_left": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.7297297297297297, "tray_projected_count": 296, "tray_visible_count": 216}, "over_shoulder_right": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.6452702702702703, "tray_projected_count": 296, "tray_visible_count": 191}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.0997834205627441, "final_height": 1.3551874160766602, "already_grasped_start": true, "already_grasped_end": true, "total_length": 2.2733683802509246, "num_milestones": 2, "first_failed_milestone": -1, "min_reliability": 1.0, "mean_reliability": 1.0, "approach_score": 0.0, "retreat_score": 0.1653174016176463, "milestones": [{"milestone_index": 0, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.198319224046069, "reliability": 1.0, "planner_score": 0.2023494824430866, "height_before": 1.0997834205627441, "height_after": 1.1356899738311768}, {"milestone_index": 1, "kind": "retreat", "ignore_collisions": true, "path_found": true, "path_length": 1.0750491562048554, "reliability": 1.0, "planner_score": 0.2384969218706369, "height_before": 1.1356899738311768, "height_after": 1.3551874160766602}], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0288.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0288.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e00406cac8ab01c2e66b42a9086ffdec4fcfbc0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0288.json
@@ -0,0 +1 @@
+{"frame_index": 288, "time_norm": 0.8520710059171598, "door_angle": 0.3935755491256714, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788779139518738, "right_arm_pose_y": -0.46349889039993286, "right_arm_pose_z": 1.085201382637024, "right_arm_pose_qx": -0.5987504124641418, "right_arm_pose_qy": 0.5335639715194702, "right_arm_pose_qz": 0.5729668736457825, "right_arm_pose_qw": 0.16886791586875916, "left_arm_pose_x": 0.17771100997924805, "left_arm_pose_y": -0.03361547738313675, "left_arm_pose_z": 1.0983105897903442, "left_arm_pose_qx": 0.16556864976882935, "left_arm_pose_qy": 0.6878606677055359, "left_arm_pose_qz": 0.6876730918884277, "left_arm_pose_qw": 0.16291262209415436, "tray_height": 1.0997834205627441, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571581511135472, "pregrasp_distance": 0.04000706304350667, "pregrasp_position_error": 0.04000706304350667, "pregrasp_orientation_error_deg": 9.239353897056693, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0997834205627441, "p_ext_final_height": 1.3551874160766602, "p_ext_total_length": 2.2733683802509246, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 2.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.1653174016176463, "three_view_visibility": 0.9982098765432099, "three_view_whole_tray_visibility": 0.6016995867386683, "full_view_visibility": 0.9999919554945892, "full_view_whole_tray_visibility": 0.9874862739217486, "front_grasp_visibility": 0.9777777777777777, "front_tray_visibility": 0.4155405405405405, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 88.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 123.0, "overhead_grasp_visibility": 0.7666666666666667, "overhead_tray_visibility": 0.6722972972972973, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 69.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 199.0, "wrist_right_grasp_visibility": 0.6777777777777778, "wrist_right_tray_visibility": 0.24157303370786518, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 61.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 43.0, "wrist_left_grasp_visibility": 0.75, "wrist_left_tray_visibility": 0.10144927536231885, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 14.0, "over_shoulder_left_grasp_visibility": 0.9666666666666667, "over_shoulder_left_tray_visibility": 0.7297297297297297, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 87.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 216.0, "over_shoulder_right_grasp_visibility": 0.4222222222222222, "over_shoulder_right_tray_visibility": 0.6452702702702703, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 38.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 191.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0289.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0289.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..4508777441e0d8b0c790d211e487d1a7a7980e7a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0289.debug.json
@@ -0,0 +1 @@
+{"frame_index": 289, "state": {"door_angle": 0.3935009241104126, "tray_height": 1.107871651649475, "tray_grasped_left": true, "left_arm_pose": [0.17783138155937195, -0.033687517046928406, 1.1063960790634155, 0.16559787094593048, 0.6879035830497742, 0.687640368938446, 0.1628398448228836], "right_arm_pose": [0.2789011597633362, -0.4634634256362915, 1.0851504802703857, -0.5987557768821716, 0.5335564017295837, 0.5729518532752991, 0.16892372071743011], "left_arm_joint_positions": [-0.09363937377929688, -0.1923816204071045, -0.6634974479675293, -2.6357216835021973, 1.3488872051239014, 1.5314407348632812, -0.04839599132537842], "right_arm_joint_positions": [1.7528693675994873, 0.3893263339996338, -1.0873496532440186, -2.12520432472229, -0.9718462228775024, 1.8350403308868408, -2.8973119258880615], "pregrasp_goal_pose": [0.1729875696608005, -0.07300756678199484, 1.1009397577819828, 0.19306425399326801, 0.7348788265874712, 0.6283531398751628, 0.16688809326152768], "pregrasp_position_error": 0.03999125237852717, "pregrasp_orientation_error_deg": 9.23579172325851}, "visibility": {"best_grasp_visibility_camera": "front", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.40878378378378377, "tray_projected_count": 296, "tray_visible_count": 121}, "overhead": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.6418918918918919, "tray_projected_count": 296, "tray_visible_count": 190}, "wrist_right": {"grasp_visibility": 0.7111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 64, "tray_visibility": 0.10674157303370786, "tray_projected_count": 178, "tray_visible_count": 19}, "wrist_left": {"grasp_visibility": 0.7142857142857143, "grasp_projected_count": 84, "grasp_visible_count": 60, "tray_visibility": 0.10144927536231885, "tray_projected_count": 138, "tray_visible_count": 14}, "over_shoulder_left": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.7162162162162162, "tray_projected_count": 296, "tray_visible_count": 212}, "over_shoulder_right": {"grasp_visibility": 0.4777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 43, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.107871651649475, "final_height": 1.107871651649475, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 0.805082805951436}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0289.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0289.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4fb1818d477a4812c5f0526723df0f1457b224
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0289.json
@@ -0,0 +1 @@
+{"frame_index": 289, "time_norm": 0.8550295857988166, "door_angle": 0.3935009241104126, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2789011597633362, "right_arm_pose_y": -0.4634634256362915, "right_arm_pose_z": 1.0851504802703857, "right_arm_pose_qx": -0.5987557768821716, "right_arm_pose_qy": 0.5335564017295837, "right_arm_pose_qz": 0.5729518532752991, "right_arm_pose_qw": 0.16892372071743011, "left_arm_pose_x": 0.17783138155937195, "left_arm_pose_y": -0.033687517046928406, "left_arm_pose_z": 1.1063960790634155, "left_arm_pose_qx": 0.16559787094593048, "left_arm_pose_qy": 0.6879035830497742, "left_arm_pose_qz": 0.687640368938446, "left_arm_pose_qw": 0.1628398448228836, "tray_height": 1.107871651649475, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572146064280135, "pregrasp_distance": 0.03999125237852717, "pregrasp_position_error": 0.03999125237852717, "pregrasp_orientation_error_deg": 9.23579172325851, "p_pre": 1.0, "p_ext": 0.805082805951436, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.107871651649475, "p_ext_final_height": 1.107871651649475, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.992663139329806, "three_view_whole_tray_visibility": 0.5254673946051571, "full_view_visibility": 0.9999115450364467, "full_view_whole_tray_visibility": 0.9830562546456825, "front_grasp_visibility": 0.9111111111111111, "front_tray_visibility": 0.40878378378378377, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 82.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 121.0, "overhead_grasp_visibility": 0.8111111111111111, "overhead_tray_visibility": 0.6418918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 73.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 190.0, "wrist_right_grasp_visibility": 0.7111111111111111, "wrist_right_tray_visibility": 0.10674157303370786, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 64.0, "wrist_right_tray_projected_count": 178.0, "wrist_right_tray_visible_count": 19.0, "wrist_left_grasp_visibility": 0.7142857142857143, "wrist_left_tray_visibility": 0.10144927536231885, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 60.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 14.0, "over_shoulder_left_grasp_visibility": 0.8777777777777778, "over_shoulder_left_tray_visibility": 0.7162162162162162, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 79.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 212.0, "over_shoulder_right_grasp_visibility": 0.4777777777777778, "over_shoulder_right_tray_visibility": 0.6486486486486487, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 43.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 192.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0290.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0290.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60f06841f8b39f007e8c041ba0d5fab8cc4655d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0290.debug.json
@@ -0,0 +1 @@
+{"frame_index": 290, "state": {"door_angle": 0.39373886585235596, "tray_height": 1.1182703971862793, "tray_grasped_left": true, "left_arm_pose": [0.1779298037290573, -0.03371533006429672, 1.116550326347351, 0.1655658334493637, 0.6879739165306091, 0.6875835657119751, 0.16281472146511078], "right_arm_pose": [0.27890366315841675, -0.46345454454421997, 1.0851746797561646, -0.5987645387649536, 0.5335863828659058, 0.5729213356971741, 0.16890162229537964], "left_arm_joint_positions": [-0.09622502326965332, -0.22056221961975098, -0.6569485664367676, -2.633430004119873, 1.3438634872436523, 1.5418663024902344, -0.02057182788848877], "right_arm_joint_positions": [1.7528600692749023, 0.38918495178222656, -1.0873475074768066, -2.125047445297241, -0.9718407392501831, 1.835040807723999, -2.8973231315612793], "pregrasp_goal_pose": [0.17307575502534303, -0.07303981816950077, 1.1111852872250159, 0.19283434936451144, 0.7346271587881474, 0.6286596307978639, 0.16710750994827558], "pregrasp_position_error": 0.03998450697881058, "pregrasp_orientation_error_deg": 9.177333707567222}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.34121621621621623, "tray_projected_count": 296, "tray_visible_count": 101}, "overhead": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.6554054054054054, "tray_projected_count": 296, "tray_visible_count": 194}, "wrist_right": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.05389221556886228, "tray_projected_count": 167, "tray_visible_count": 9}, "wrist_left": {"grasp_visibility": 0.6785714285714286, "grasp_projected_count": 84, "grasp_visible_count": 57, "tray_visibility": 0.08695652173913043, "tray_projected_count": 138, "tray_visible_count": 12}, "over_shoulder_left": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.7331081081081081, "tray_projected_count": 296, "tray_visible_count": 217}, "over_shoulder_right": {"grasp_visibility": 0.45555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 41, "tray_visibility": 0.6486486486486487, "tray_projected_count": 296, "tray_visible_count": 192}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1182703971862793, "final_height": 1.1182703971862793, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 0.8917390187581377}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0290.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0290.json
new file mode 100644
index 0000000000000000000000000000000000000000..f36ac5b917d72f83f68ebd1da33b27c0f2a47c9c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0290.json
@@ -0,0 +1 @@
+{"frame_index": 290, "time_norm": 0.8579881656804734, "door_angle": 0.39373886585235596, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27890366315841675, "right_arm_pose_y": -0.46345454454421997, "right_arm_pose_z": 1.0851746797561646, "right_arm_pose_qx": -0.5987645387649536, "right_arm_pose_qy": 0.5335863828659058, "right_arm_pose_qz": 0.5729213356971741, "right_arm_pose_qw": 0.16890162229537964, "left_arm_pose_x": 0.1779298037290573, "left_arm_pose_y": -0.03371533006429672, "left_arm_pose_z": 1.116550326347351, "left_arm_pose_qx": 0.1655658334493637, "left_arm_pose_qy": 0.6879739165306091, "left_arm_pose_qz": 0.6875835657119751, "left_arm_pose_qw": 0.16281472146511078, "tray_height": 1.1182703971862793, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572386837889567, "pregrasp_distance": 0.03998450697881058, "pregrasp_position_error": 0.03998450697881058, "pregrasp_orientation_error_deg": 9.177333707567222, "p_pre": 1.0, "p_ext": 0.8917390187581377, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1182703971862793, "p_ext_final_height": 1.1182703971862793, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9845238095238095, "three_view_whole_tray_visibility": 0.4309178353047137, "full_view_visibility": 0.9998710105166896, "full_view_whole_tray_visibility": 0.9816109012914801, "front_grasp_visibility": 0.8555555555555555, "front_tray_visibility": 0.34121621621621623, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 77.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 101.0, "overhead_grasp_visibility": 0.6555555555555556, "overhead_tray_visibility": 0.6554054054054054, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 59.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 194.0, "wrist_right_grasp_visibility": 0.6666666666666666, "wrist_right_tray_visibility": 0.05389221556886228, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 60.0, "wrist_right_tray_projected_count": 167.0, "wrist_right_tray_visible_count": 9.0, "wrist_left_grasp_visibility": 0.6785714285714286, "wrist_left_tray_visibility": 0.08695652173913043, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 57.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 12.0, "over_shoulder_left_grasp_visibility": 0.9555555555555556, "over_shoulder_left_tray_visibility": 0.7331081081081081, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 86.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 217.0, "over_shoulder_right_grasp_visibility": 0.45555555555555555, "over_shoulder_right_tray_visibility": 0.6486486486486487, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 41.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 192.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0291.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0291.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b3122d2262f520db2d6f3ab5d63757bd48b477
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0291.debug.json
@@ -0,0 +1 @@
+{"frame_index": 291, "state": {"door_angle": 0.39387500286102295, "tray_height": 1.129677414894104, "tray_grasped_left": true, "left_arm_pose": [0.1780470907688141, -0.03375224024057388, 1.1281640529632568, 0.16551394760608673, 0.6880326867103577, 0.6875451803207397, 0.16278158128261566], "right_arm_pose": [0.27888765931129456, -0.4634667932987213, 1.0851616859436035, -0.5987626314163208, 0.5335420370101929, 0.5729533433914185, 0.1689402014017105], "left_arm_joint_positions": [-0.09931325912475586, -0.2508060932159424, -0.6490802764892578, -2.629833698272705, 1.3387532234191895, 1.5526502132415771, 0.010819792747497559], "right_arm_joint_positions": [1.752884864807129, 0.38932085037231445, -1.0873398780822754, -2.1252100467681885, -0.9718631505966187, 1.8350589275360107, -2.8972995281219482], "pregrasp_goal_pose": [0.1731518872318719, -0.07308461802296495, 1.1227440049732813, 0.19309146103510164, 0.7347818913376503, 0.6285025696988648, 0.1667206637448371], "pregrasp_position_error": 0.04000469822281453, "pregrasp_orientation_error_deg": 9.203793029420632}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.7777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 70, "tray_visibility": 0.30405405405405406, "tray_projected_count": 296, "tray_visible_count": 90}, "overhead": {"grasp_visibility": 0.7, "grasp_projected_count": 90, "grasp_visible_count": 63, "tray_visibility": 0.6587837837837838, "tray_projected_count": 296, "tray_visible_count": 195}, "wrist_right": {"grasp_visibility": 0.7, "grasp_projected_count": 90, "grasp_visible_count": 63, "tray_visibility": 0.05844155844155844, "tray_projected_count": 154, "tray_visible_count": 9}, "wrist_left": {"grasp_visibility": 0.6428571428571429, "grasp_projected_count": 84, "grasp_visible_count": 54, "tray_visibility": 0.07246376811594203, "tray_projected_count": 138, "tray_visible_count": 10}, "over_shoulder_left": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.7398648648648649, "tray_projected_count": 296, "tray_visible_count": 219}, "over_shoulder_right": {"grasp_visibility": 0.4444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 40, "tray_visibility": 0.6891891891891891, "tray_projected_count": 296, "tray_visible_count": 204}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.129677414894104, "final_height": 1.129677414894104, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 0.9867974996566768}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0291.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0291.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb7dfac2f4a9bae834ec6afc15c559c78c31aae7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0291.json
@@ -0,0 +1 @@
+{"frame_index": 291, "time_norm": 0.8609467455621301, "door_angle": 0.39387500286102295, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27888765931129456, "right_arm_pose_y": -0.4634667932987213, "right_arm_pose_z": 1.0851616859436035, "right_arm_pose_qx": -0.5987626314163208, "right_arm_pose_qy": 0.5335420370101929, "right_arm_pose_qz": 0.5729533433914185, "right_arm_pose_qw": 0.1689402014017105, "left_arm_pose_x": 0.1780470907688141, "left_arm_pose_y": -0.03375224024057388, "left_arm_pose_z": 1.1281640529632568, "left_arm_pose_qx": 0.16551394760608673, "left_arm_pose_qy": 0.6880326867103577, "left_arm_pose_qz": 0.6875451803207397, "left_arm_pose_qw": 0.16278158128261566, "tray_height": 1.129677414894104, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571665907290901, "pregrasp_distance": 0.04000469822281453, "pregrasp_position_error": 0.04000469822281453, "pregrasp_orientation_error_deg": 9.203793029420632, "p_pre": 1.0, "p_ext": 0.9867974996566768, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.129677414894104, "p_ext_final_height": 1.129677414894104, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9761904761904762, "three_view_whole_tray_visibility": 0.3922098269924357, "full_view_visibility": 0.9995590828924162, "full_view_whole_tray_visibility": 0.983232108038388, "front_grasp_visibility": 0.7777777777777778, "front_tray_visibility": 0.30405405405405406, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 70.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 90.0, "overhead_grasp_visibility": 0.7, "overhead_tray_visibility": 0.6587837837837838, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 63.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 195.0, "wrist_right_grasp_visibility": 0.7, "wrist_right_tray_visibility": 0.05844155844155844, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 63.0, "wrist_right_tray_projected_count": 154.0, "wrist_right_tray_visible_count": 9.0, "wrist_left_grasp_visibility": 0.6428571428571429, "wrist_left_tray_visibility": 0.07246376811594203, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 54.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 10.0, "over_shoulder_left_grasp_visibility": 0.8888888888888888, "over_shoulder_left_tray_visibility": 0.7398648648648649, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 80.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 219.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.6891891891891891, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 204.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0292.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0292.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..db0beaf6397f589b3e82722940c3f16cc3f49dfa
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0292.debug.json
@@ -0,0 +1 @@
+{"frame_index": 292, "state": {"door_angle": 0.39405691623687744, "tray_height": 1.1422821283340454, "tray_grasped_left": true, "left_arm_pose": [0.17809316515922546, -0.033809736371040344, 1.1407387256622314, 0.16544845700263977, 0.6880357265472412, 0.6875579357147217, 0.1627814769744873], "right_arm_pose": [0.27889710664749146, -0.4634553790092468, 1.0851610898971558, -0.5987483859062195, 0.5335568189620972, 0.5729559659957886, 0.16893456876277924], "left_arm_joint_positions": [-0.10274767875671387, -0.2818312644958496, -0.6401445865631104, -2.624788761138916, 1.3339595794677734, 1.5630545616149902, 0.044368624687194824], "right_arm_joint_positions": [1.7528963088989258, 0.3892676830291748, -1.0873734951019287, -2.1252248287200928, -0.9718838930130005, 1.835054874420166, -2.89729642868042], "pregrasp_goal_pose": [0.17326338351011333, -0.07315804284839926, 1.135399044224949, 0.19295646020637855, 0.7350551241773113, 0.6282106522843602, 0.16677273530694514], "pregrasp_position_error": 0.040001602608719614, "pregrasp_orientation_error_deg": 9.245113073824694}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.24662162162162163, "tray_projected_count": 296, "tray_visible_count": 73}, "overhead": {"grasp_visibility": 0.7, "grasp_projected_count": 90, "grasp_visible_count": 63, "tray_visibility": 0.722972972972973, "tray_projected_count": 296, "tray_visible_count": 214}, "wrist_right": {"grasp_visibility": 0.5888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 53, "tray_visibility": 0.05970149253731343, "tray_projected_count": 134, "tray_visible_count": 8}, "wrist_left": {"grasp_visibility": 0.6190476190476191, "grasp_projected_count": 84, "grasp_visible_count": 52, "tray_visibility": 0.07246376811594203, "tray_projected_count": 138, "tray_visible_count": 10}, "over_shoulder_left": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.7195945945945946, "tray_projected_count": 296, "tray_visible_count": 213}, "over_shoulder_right": {"grasp_visibility": 0.45555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 41, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1422821283340454, "final_height": 1.1422821283340454, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0292.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0292.json
new file mode 100644
index 0000000000000000000000000000000000000000..479a05bb852cb30f554509bdb2c8b90349b335cb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0292.json
@@ -0,0 +1 @@
+{"frame_index": 292, "time_norm": 0.863905325443787, "door_angle": 0.39405691623687744, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27889710664749146, "right_arm_pose_y": -0.4634553790092468, "right_arm_pose_z": 1.0851610898971558, "right_arm_pose_qx": -0.5987483859062195, "right_arm_pose_qy": 0.5335568189620972, "right_arm_pose_qz": 0.5729559659957886, "right_arm_pose_qw": 0.16893456876277924, "left_arm_pose_x": 0.17809316515922546, "left_arm_pose_y": -0.033809736371040344, "left_arm_pose_z": 1.1407387256622314, "left_arm_pose_qx": 0.16544845700263977, "left_arm_pose_qy": 0.6880357265472412, "left_arm_pose_qz": 0.6875579357147217, "left_arm_pose_qw": 0.1627814769744873, "tray_height": 1.1422821283340454, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571776511993356, "pregrasp_distance": 0.040001602608719614, "pregrasp_position_error": 0.040001602608719614, "pregrasp_orientation_error_deg": 9.245113073824694, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1422821283340454, "p_ext_final_height": 1.1422821283340454, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9495355673133451, "three_view_whole_tray_visibility": 0.34293280951295224, "full_view_visibility": 0.9982599115988416, "full_view_whole_tray_visibility": 0.9837910662507513, "front_grasp_visibility": 0.6777777777777778, "front_tray_visibility": 0.24662162162162163, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 61.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 73.0, "overhead_grasp_visibility": 0.7, "overhead_tray_visibility": 0.722972972972973, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 63.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 214.0, "wrist_right_grasp_visibility": 0.5888888888888889, "wrist_right_tray_visibility": 0.05970149253731343, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 53.0, "wrist_right_tray_projected_count": 134.0, "wrist_right_tray_visible_count": 8.0, "wrist_left_grasp_visibility": 0.6190476190476191, "wrist_left_tray_visibility": 0.07246376811594203, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 52.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 10.0, "over_shoulder_left_grasp_visibility": 0.7888888888888889, "over_shoulder_left_tray_visibility": 0.7195945945945946, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 71.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 213.0, "over_shoulder_right_grasp_visibility": 0.45555555555555555, "over_shoulder_right_tray_visibility": 0.6824324324324325, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 41.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 202.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0293.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0293.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..da83890d20a218fac32e6ec22d6c589f38e39c55
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0293.debug.json
@@ -0,0 +1 @@
+{"frame_index": 293, "state": {"door_angle": 0.39346086978912354, "tray_height": 1.1555473804473877, "tray_grasped_left": true, "left_arm_pose": [0.17815807461738586, -0.03380899131298065, 1.153977632522583, 0.1653698980808258, 0.6880513429641724, 0.6875668168067932, 0.1627575159072876], "right_arm_pose": [0.27888381481170654, -0.4634064733982086, 1.0851504802703857, -0.5987498760223389, 0.5335487723350525, 0.5729497075080872, 0.16897627711296082], "left_arm_joint_positions": [-0.1063544750213623, -0.31232428550720215, -0.6303482055664062, -2.6182870864868164, 1.3296918869018555, 1.5727920532226562, 0.07936131954193115], "right_arm_joint_positions": [1.752854824066162, 0.3892645835876465, -1.0874042510986328, -2.125349998474121, -0.9718846082687378, 1.8350334167480469, -2.897298812866211], "pregrasp_goal_pose": [0.17332106801956126, -0.07318399819371862, 1.1485458090095952, 0.19268616805777877, 0.734936644991062, 0.628377216907133, 0.16697976452413923], "pregrasp_position_error": 0.040041135178236494, "pregrasp_orientation_error_deg": 9.216704610834523}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.6555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 59, "tray_visibility": 0.22297297297297297, "tray_projected_count": 296, "tray_visible_count": 66}, "overhead": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.6216216216216216, "tray_projected_count": 296, "tray_visible_count": 184}, "wrist_right": {"grasp_visibility": 0.5777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 52, "tray_visibility": 0.07272727272727272, "tray_projected_count": 110, "tray_visible_count": 8}, "wrist_left": {"grasp_visibility": 0.5952380952380952, "grasp_projected_count": 84, "grasp_visible_count": 50, "tray_visibility": 0.06521739130434782, "tray_projected_count": 138, "tray_visible_count": 9}, "over_shoulder_left": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.7331081081081081, "tray_projected_count": 296, "tray_visible_count": 217}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.6452702702702703, "tray_projected_count": 296, "tray_visible_count": 191}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1555473804473877, "final_height": 1.1555473804473877, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0293.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0293.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f272f356e02d2b05306107578febc7a2fed09f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0293.json
@@ -0,0 +1 @@
+{"frame_index": 293, "time_norm": 0.8668639053254438, "door_angle": 0.39346086978912354, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27888381481170654, "right_arm_pose_y": -0.4634064733982086, "right_arm_pose_z": 1.0851504802703857, "right_arm_pose_qx": -0.5987498760223389, "right_arm_pose_qy": 0.5335487723350525, "right_arm_pose_qz": 0.5729497075080872, "right_arm_pose_qw": 0.16897627711296082, "left_arm_pose_x": 0.17815807461738586, "left_arm_pose_y": -0.03380899131298065, "left_arm_pose_z": 1.153977632522583, "left_arm_pose_qx": 0.1653698980808258, "left_arm_pose_qy": 0.6880513429641724, "left_arm_pose_qz": 0.6875668168067932, "left_arm_pose_qw": 0.1627575159072876, "tray_height": 1.1555473804473877, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8570364985217227, "pregrasp_distance": 0.040041135178236494, "pregrasp_position_error": 0.040041135178236494, "pregrasp_orientation_error_deg": 9.216704610834523, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1555473804473877, "p_ext_final_height": 1.1555473804473877, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9411346266901822, "three_view_whole_tray_visibility": 0.3264742014742015, "full_view_visibility": 0.9981797760697532, "full_view_whole_tray_visibility": 0.9758724338320284, "front_grasp_visibility": 0.6555555555555556, "front_tray_visibility": 0.22297297297297297, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 59.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 66.0, "overhead_grasp_visibility": 0.6222222222222222, "overhead_tray_visibility": 0.6216216216216216, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 56.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 184.0, "wrist_right_grasp_visibility": 0.5777777777777777, "wrist_right_tray_visibility": 0.07272727272727272, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 52.0, "wrist_right_tray_projected_count": 110.0, "wrist_right_tray_visible_count": 8.0, "wrist_left_grasp_visibility": 0.5952380952380952, "wrist_left_tray_visibility": 0.06521739130434782, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 50.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 9.0, "over_shoulder_left_grasp_visibility": 0.8555555555555555, "over_shoulder_left_tray_visibility": 0.7331081081081081, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 77.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 217.0, "over_shoulder_right_grasp_visibility": 0.43333333333333335, "over_shoulder_right_tray_visibility": 0.6452702702702703, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 39.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 191.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0294.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0294.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..af017a3db27bc31b24796e46326118dffde7c14a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0294.debug.json
@@ -0,0 +1 @@
+{"frame_index": 294, "state": {"door_angle": 0.3935195207595825, "tray_height": 1.1695754528045654, "tray_grasped_left": true, "left_arm_pose": [0.17821545898914337, -0.03383772820234299, 1.167813777923584, 0.16529110074043274, 0.6880495548248291, 0.6875894069671631, 0.162750244140625], "right_arm_pose": [0.27890142798423767, -0.46342962980270386, 1.0851281881332397, -0.5987734198570251, 0.5335525870323181, 0.5729309916496277, 0.1689443737268448], "left_arm_joint_positions": [-0.10999608039855957, -0.3419017791748047, -0.6199061870574951, -2.6100783348083496, 1.3260407447814941, 1.5816609859466553, 0.11541998386383057], "right_arm_joint_positions": [1.7528581619262695, 0.38925766944885254, -1.087324619293213, -2.1252267360687256, -0.9718471765518188, 1.8350872993469238, -2.8973052501678467], "pregrasp_goal_pose": [0.17338079129727102, -0.07316897248112136, 1.1624501216462386, 0.19254318001265264, 0.7346588779913488, 0.6287267282865857, 0.16705136323045539], "pregrasp_position_error": 0.039988618341589115, "pregrasp_orientation_error_deg": 9.168637708741924}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.6222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 56, "tray_visibility": 0.19594594594594594, "tray_projected_count": 296, "tray_visible_count": 58}, "overhead": {"grasp_visibility": 0.6444444444444445, "grasp_projected_count": 90, "grasp_visible_count": 58, "tray_visibility": 0.6418918918918919, "tray_projected_count": 296, "tray_visible_count": 190}, "wrist_right": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.0975609756097561, "tray_projected_count": 82, "tray_visible_count": 8}, "wrist_left": {"grasp_visibility": 0.5833333333333334, "grasp_projected_count": 84, "grasp_visible_count": 49, "tray_visibility": 0.06521739130434782, "tray_projected_count": 138, "tray_visible_count": 9}, "over_shoulder_left": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.7128378378378378, "tray_projected_count": 296, "tray_visible_count": 211}, "over_shoulder_right": {"grasp_visibility": 0.4111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 37, "tray_visibility": 0.6824324324324325, "tray_projected_count": 296, "tray_visible_count": 202}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1695754528045654, "final_height": 1.1695754528045654, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0294.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0294.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ee5055cf9a409dc5c46663078ea16d2750261a6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0294.json
@@ -0,0 +1 @@
+{"frame_index": 294, "time_norm": 0.8698224852071006, "door_angle": 0.3935195207595825, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27890142798423767, "right_arm_pose_y": -0.46342962980270386, "right_arm_pose_z": 1.0851281881332397, "right_arm_pose_qx": -0.5987734198570251, "right_arm_pose_qy": 0.5335525870323181, "right_arm_pose_qz": 0.5729309916496277, "right_arm_pose_qw": 0.1689443737268448, "left_arm_pose_x": 0.17821545898914337, "left_arm_pose_y": -0.03383772820234299, "left_arm_pose_z": 1.167813777923584, "left_arm_pose_qx": 0.16529110074043274, "left_arm_pose_qy": 0.6880495548248291, "left_arm_pose_qz": 0.6875894069671631, "left_arm_pose_qw": 0.162750244140625, "tray_height": 1.1695754528045654, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572240049193662, "pregrasp_distance": 0.039988618341589115, "pregrasp_position_error": 0.039988618341589115, "pregrasp_orientation_error_deg": 9.168637708741924, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1695754528045654, "p_ext_final_height": 1.1695754528045654, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.937037037037037, "three_view_whole_tray_visibility": 0.3217126193001061, "full_view_visibility": 0.9969238835543363, "full_view_whole_tray_visibility": 0.9778491065200217, "front_grasp_visibility": 0.6222222222222222, "front_tray_visibility": 0.19594594594594594, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 56.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 58.0, "overhead_grasp_visibility": 0.6444444444444445, "overhead_tray_visibility": 0.6418918918918919, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 58.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 190.0, "wrist_right_grasp_visibility": 0.6, "wrist_right_tray_visibility": 0.0975609756097561, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 54.0, "wrist_right_tray_projected_count": 82.0, "wrist_right_tray_visible_count": 8.0, "wrist_left_grasp_visibility": 0.5833333333333334, "wrist_left_tray_visibility": 0.06521739130434782, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 49.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 9.0, "over_shoulder_left_grasp_visibility": 0.7666666666666667, "over_shoulder_left_tray_visibility": 0.7128378378378378, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 69.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 211.0, "over_shoulder_right_grasp_visibility": 0.4111111111111111, "over_shoulder_right_tray_visibility": 0.6824324324324325, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 37.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 202.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0295.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0295.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..29768e948918ed23c575b198a2b34b821dc75fc6
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0295.debug.json
@@ -0,0 +1 @@
+{"frame_index": 295, "state": {"door_angle": 0.39413416385650635, "tray_height": 1.1838408708572388, "tray_grasped_left": true, "left_arm_pose": [0.17828422784805298, -0.03392423689365387, 1.182228684425354, 0.16521364450454712, 0.6880785822868347, 0.6875685453414917, 0.1627940684556961], "right_arm_pose": [0.27889174222946167, -0.463417649269104, 1.0851515531539917, -0.5987458825111389, 0.5335598587989807, 0.5729538798332214, 0.16894114017486572], "left_arm_joint_positions": [-0.11356925964355469, -0.37026429176330566, -0.60894775390625, -2.599881649017334, 1.322986125946045, 1.5897705554962158, 0.15240943431854248], "right_arm_joint_positions": [1.7528738975524902, 0.38927388191223145, -1.0873801708221436, -2.1252193450927734, -0.9718884229660034, 1.835101842880249, -2.8972878456115723], "pregrasp_goal_pose": [0.17343059010136733, -0.07325829636958224, 1.1770674311034965, 0.19298776953911573, 0.7352916845141466, 0.6279830646442847, 0.16655068301462436], "pregrasp_position_error": 0.03996704354945843, "pregrasp_orientation_error_deg": 9.287301342390329}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.15202702702702703, "tray_projected_count": 296, "tray_visible_count": 45}, "overhead": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.625, "tray_projected_count": 296, "tray_visible_count": 185}, "wrist_right": {"grasp_visibility": 0.6071428571428571, "grasp_projected_count": 84, "grasp_visible_count": 51, "tray_visibility": 0.14035087719298245, "tray_projected_count": 57, "tray_visible_count": 8}, "wrist_left": {"grasp_visibility": 0.5595238095238095, "grasp_projected_count": 84, "grasp_visible_count": 47, "tray_visibility": 0.06521739130434782, "tray_projected_count": 138, "tray_visible_count": 9}, "over_shoulder_left": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.6959459459459459, "tray_projected_count": 296, "tray_visible_count": 206}, "over_shoulder_right": {"grasp_visibility": 0.4111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 37, "tray_visibility": 0.6385135135135135, "tray_projected_count": 296, "tray_visible_count": 189}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.1838408708572388, "final_height": 1.1838408708572388, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0295.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0295.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4e1f36224489ca1e7b31a6d6aea3542eef0a9c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0295.json
@@ -0,0 +1 @@
+{"frame_index": 295, "time_norm": 0.8727810650887574, "door_angle": 0.39413416385650635, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27889174222946167, "right_arm_pose_y": -0.463417649269104, "right_arm_pose_z": 1.0851515531539917, "right_arm_pose_qx": -0.5987458825111389, "right_arm_pose_qy": 0.5335598587989807, "right_arm_pose_qz": 0.5729538798332214, "right_arm_pose_qw": 0.16894114017486572, "left_arm_pose_x": 0.17828422784805298, "left_arm_pose_y": -0.03392423689365387, "left_arm_pose_z": 1.182228684425354, "left_arm_pose_qx": 0.16521364450454712, "left_arm_pose_qy": 0.6880785822868347, "left_arm_pose_qz": 0.6875685453414917, "left_arm_pose_qw": 0.1627940684556961, "tray_height": 1.1838408708572388, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8573010356438056, "pregrasp_distance": 0.03996704354945843, "pregrasp_position_error": 0.03996704354945843, "pregrasp_orientation_error_deg": 9.287301342390329, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.1838408708572388, "p_ext_final_height": 1.1838408708572388, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.93078231292517, "three_view_whole_tray_visibility": 0.31858159647061235, "full_view_visibility": 0.9970410150891632, "full_view_whole_tray_visibility": 0.9719141228800048, "front_grasp_visibility": 0.6, "front_tray_visibility": 0.15202702702702703, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 54.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 45.0, "overhead_grasp_visibility": 0.6888888888888889, "overhead_tray_visibility": 0.625, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 62.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 185.0, "wrist_right_grasp_visibility": 0.6071428571428571, "wrist_right_tray_visibility": 0.14035087719298245, "wrist_right_grasp_projected_count": 84.0, "wrist_right_grasp_visible_count": 51.0, "wrist_right_tray_projected_count": 57.0, "wrist_right_tray_visible_count": 8.0, "wrist_left_grasp_visibility": 0.5595238095238095, "wrist_left_tray_visibility": 0.06521739130434782, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 47.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 9.0, "over_shoulder_left_grasp_visibility": 0.7666666666666667, "over_shoulder_left_tray_visibility": 0.6959459459459459, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 69.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 206.0, "over_shoulder_right_grasp_visibility": 0.4111111111111111, "over_shoulder_right_tray_visibility": 0.6385135135135135, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 37.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 189.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0300.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0300.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..46e2ed9e16ca3c97ce8e2f766fed72e06c4ff5ce
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0300.debug.json
@@ -0,0 +1 @@
+{"frame_index": 300, "state": {"door_angle": 0.3935941457748413, "tray_height": 1.2629565000534058, "tray_grasped_left": true, "left_arm_pose": [0.17839473485946655, -0.03414091467857361, 1.2612733840942383, 0.1649789810180664, 0.6880382895469666, 0.6876379251480103, 0.16290926933288574], "right_arm_pose": [0.2788879871368408, -0.4634796380996704, 1.0851606130599976, -0.5987626314163208, 0.5335530042648315, 0.572955310344696, 0.1688985824584961], "left_arm_joint_positions": [-0.12649202346801758, -0.48603081703186035, -0.5518465042114258, -2.518947124481201, 1.3171484470367432, 1.6168467998504639, 0.34553563594818115], "right_arm_joint_positions": [1.7528457641601562, 0.38925766944885254, -1.087353229522705, -2.125190019607544, -0.9718993902206421, 1.8350927829742432, -2.8973050117492676], "pregrasp_goal_pose": [0.17357664027757994, -0.0735009547002523, 1.2559295512208326, 0.19253479824840797, 0.7349278016212912, 0.6284481563521573, 0.1669263090262148], "pregrasp_position_error": 0.04001228980809576, "pregrasp_orientation_error_deg": 9.22516423664943}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.34444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 31, "tray_visibility": 0.05405405405405406, "tray_projected_count": 296, "tray_visible_count": 16}, "overhead": {"grasp_visibility": 0.5111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 46, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.47619047619047616, "grasp_projected_count": 84, "grasp_visible_count": 40, "tray_visibility": 0.07246376811594203, "tray_projected_count": 138, "tray_visible_count": 10}, "over_shoulder_left": {"grasp_visibility": 0.7, "grasp_projected_count": 90, "grasp_visible_count": 63, "tray_visibility": 0.7871621621621622, "tray_projected_count": 296, "tray_visible_count": 233}, "over_shoulder_right": {"grasp_visibility": 0.37777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 34, "tray_visibility": 0.706081081081081, "tray_projected_count": 296, "tray_visible_count": 209}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.2629565000534058, "final_height": 1.2629565000534058, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0300.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0300.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d1e29cb255682b60808a62289408bb1587da82
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0300.json
@@ -0,0 +1 @@
+{"frame_index": 300, "time_norm": 0.8875739644970414, "door_angle": 0.3935941457748413, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788879871368408, "right_arm_pose_y": -0.4634796380996704, "right_arm_pose_z": 1.0851606130599976, "right_arm_pose_qx": -0.5987626314163208, "right_arm_pose_qy": 0.5335530042648315, "right_arm_pose_qz": 0.572955310344696, "right_arm_pose_qw": 0.1688985824584961, "left_arm_pose_x": 0.17839473485946655, "left_arm_pose_y": -0.03414091467857361, "left_arm_pose_z": 1.2612733840942383, "left_arm_pose_qx": 0.1649789810180664, "left_arm_pose_qy": 0.6880382895469666, "left_arm_pose_qz": 0.6876379251480103, "left_arm_pose_qw": 0.16290926933288574, "tray_height": 1.2629565000534058, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571394915976064, "pregrasp_distance": 0.04001228980809576, "pregrasp_position_error": 0.04001228980809576, "pregrasp_orientation_error_deg": 9.22516423664943, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.2629565000534058, "p_ext_final_height": 1.2629565000534058, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6566137566137566, "three_view_whole_tray_visibility": 0.12260086173129647, "full_view_visibility": 0.9686628257887517, "full_view_whole_tray_visibility": 0.9831257971827997, "front_grasp_visibility": 0.34444444444444444, "front_tray_visibility": 0.05405405405405406, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 31.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 16.0, "overhead_grasp_visibility": 0.5111111111111111, "overhead_tray_visibility": 0.6925675675675675, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 46.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 205.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.47619047619047616, "wrist_left_tray_visibility": 0.07246376811594203, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 40.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 10.0, "over_shoulder_left_grasp_visibility": 0.7, "over_shoulder_left_tray_visibility": 0.7871621621621622, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 63.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 233.0, "over_shoulder_right_grasp_visibility": 0.37777777777777777, "over_shoulder_right_tray_visibility": 0.706081081081081, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 34.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 209.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0301.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0301.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff9b5d2af5a691665b917ea465f03b7d190c34e
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0301.debug.json
@@ -0,0 +1 @@
+{"frame_index": 301, "state": {"door_angle": 0.39368879795074463, "tray_height": 1.2797690629959106, "tray_grasped_left": true, "left_arm_pose": [0.17837323248386383, -0.03415682911872864, 1.2782022953033447, 0.16494907438755035, 0.6880335211753845, 0.6876545548439026, 0.16288916766643524], "right_arm_pose": [0.27888691425323486, -0.46348291635513306, 1.0851941108703613, -0.5987740755081177, 0.5335579514503479, 0.5729466676712036, 0.16887211799621582], "left_arm_joint_positions": [-0.12755703926086426, -0.5027556419372559, -0.5409467220306396, -2.4963674545288086, 1.3174920082092285, 1.6197586059570312, 0.3848017454147339], "right_arm_joint_positions": [1.752863883972168, 0.3891584873199463, -1.08732271194458, -2.1250860691070557, -0.9718941450119019, 1.8350253105163574, -2.897294521331787], "pregrasp_goal_pose": [0.17356423101671875, -0.07345508721960274, 1.2723936195086287, 0.19189198005118144, 0.7345140474137914, 0.6289462479989899, 0.16761026004347263], "pregrasp_position_error": 0.040015250834676025, "pregrasp_orientation_error_deg": 9.137685118386813}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.2111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 19, "tray_visibility": 0.04054054054054054, "tray_projected_count": 296, "tray_visible_count": 12}, "overhead": {"grasp_visibility": 0.5444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 49, "tray_visibility": 0.6959459459459459, "tray_projected_count": 296, "tray_visible_count": 206}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.5, "grasp_projected_count": 84, "grasp_visible_count": 42, "tray_visibility": 0.07246376811594203, "tray_projected_count": 138, "tray_visible_count": 10}, "over_shoulder_left": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.7432432432432432, "tray_projected_count": 296, "tray_visible_count": 220}, "over_shoulder_right": {"grasp_visibility": 0.37777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 34, "tray_visibility": 0.6858108108108109, "tray_projected_count": 296, "tray_visible_count": 203}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.2797690629959106, "final_height": 1.2797690629959106, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0301.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0301.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5e46a8436de213f6960d2bfabda9333bbb843d7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0301.json
@@ -0,0 +1 @@
+{"frame_index": 301, "time_norm": 0.8905325443786982, "door_angle": 0.39368879795074463, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27888691425323486, "right_arm_pose_y": -0.46348291635513306, "right_arm_pose_z": 1.0851941108703613, "right_arm_pose_qx": -0.5987740755081177, "right_arm_pose_qy": 0.5335579514503479, "right_arm_pose_qz": 0.5729466676712036, "right_arm_pose_qw": 0.16887211799621582, "left_arm_pose_x": 0.17837323248386383, "left_arm_pose_y": -0.03415682911872864, "left_arm_pose_z": 1.2782022953033447, "left_arm_pose_qx": 0.16494907438755035, "left_arm_pose_qy": 0.6880335211753845, "left_arm_pose_qz": 0.6876545548439026, "left_arm_pose_qw": 0.16288916766643524, "tray_height": 1.2797690629959106, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571289182014998, "pregrasp_distance": 0.040015250834676025, "pregrasp_position_error": 0.040015250834676025, "pregrasp_orientation_error_deg": 9.137685118386813, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.2797690629959106, "p_ext_final_height": 1.2797690629959106, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6055555555555556, "three_view_whole_tray_visibility": 0.11006658832745786, "full_view_visibility": 0.9639729919219631, "full_view_whole_tray_visibility": 0.9781716238336259, "front_grasp_visibility": 0.2111111111111111, "front_tray_visibility": 0.04054054054054054, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 19.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 12.0, "overhead_grasp_visibility": 0.5444444444444444, "overhead_tray_visibility": 0.6959459459459459, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 49.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 206.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.5, "wrist_left_tray_visibility": 0.07246376811594203, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 42.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 10.0, "over_shoulder_left_grasp_visibility": 0.6777777777777778, "over_shoulder_left_tray_visibility": 0.7432432432432432, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 61.0, "over_shoulder_left_tray_projected_count": 296.0, "over_shoulder_left_tray_visible_count": 220.0, "over_shoulder_right_grasp_visibility": 0.37777777777777777, "over_shoulder_right_tray_visibility": 0.6858108108108109, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 34.0, "over_shoulder_right_tray_projected_count": 296.0, "over_shoulder_right_tray_visible_count": 203.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0302.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0302.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..c40cb38fa544f81367d83ff817d158ee028d0357
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0302.debug.json
@@ -0,0 +1 @@
+{"frame_index": 302, "state": {"door_angle": 0.39352428913116455, "tray_height": 1.2972970008850098, "tray_grasped_left": true, "left_arm_pose": [0.17832669615745544, -0.034170955419540405, 1.2954546213150024, 0.16481636464595795, 0.6880382895469666, 0.6876696348190308, 0.16294004023075104], "right_arm_pose": [0.27887487411499023, -0.4634227752685547, 1.0851733684539795, -0.5987242460250854, 0.5335986018180847, 0.5729457139968872, 0.16892315447330475], "left_arm_joint_positions": [-0.1280207633972168, -0.5171942710876465, -0.530555248260498, -2.471444606781006, 1.3182861804962158, 1.621852159500122, 0.423824667930603], "right_arm_joint_positions": [1.7528393268585205, 0.38925743103027344, -1.0874271392822266, -2.1251513957977295, -0.9718917608261108, 1.8350603580474854, -2.8973071575164795], "pregrasp_goal_pose": [0.17352786634015008, -0.07352088477772799, 1.2900757175748625, 0.19213125149252963, 0.734695186467479, 0.6287606895177614, 0.16723803544223928], "pregrasp_position_error": 0.040004728639943345, "pregrasp_orientation_error_deg": 9.178157320927083}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.2, "grasp_projected_count": 90, "grasp_visible_count": 18, "tray_visibility": 0.033783783783783786, "tray_projected_count": 296, "tray_visible_count": 10}, "overhead": {"grasp_visibility": 0.4666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 42, "tray_visibility": 0.6756756756756757, "tray_projected_count": 296, "tray_visible_count": 200}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.4880952380952381, "grasp_projected_count": 84, "grasp_visible_count": 41, "tray_visibility": 0.07246376811594203, "tray_projected_count": 138, "tray_visible_count": 10}, "over_shoulder_left": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.7665505226480837, "tray_projected_count": 287, "tray_visible_count": 220}, "over_shoulder_right": {"grasp_visibility": 0.36666666666666664, "grasp_projected_count": 90, "grasp_visible_count": 33, "tray_visibility": 0.7083333333333334, "tray_projected_count": 288, "tray_visible_count": 204}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.2972970008850098, "final_height": 1.2972970008850098, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0302.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0302.json
new file mode 100644
index 0000000000000000000000000000000000000000..11a1004db8be5c35e2880e6bbe78563b529841ac
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0302.json
@@ -0,0 +1 @@
+{"frame_index": 302, "time_norm": 0.893491124260355, "door_angle": 0.39352428913116455, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27887487411499023, "right_arm_pose_y": -0.4634227752685547, "right_arm_pose_z": 1.0851733684539795, "right_arm_pose_qx": -0.5987242460250854, "right_arm_pose_qy": 0.5335986018180847, "right_arm_pose_qz": 0.5729457139968872, "right_arm_pose_qw": 0.16892315447330475, "left_arm_pose_x": 0.17832669615745544, "left_arm_pose_y": -0.034170955419540405, "left_arm_pose_z": 1.2954546213150024, "left_arm_pose_qx": 0.16481636464595795, "left_arm_pose_qy": 0.6880382895469666, "left_arm_pose_qz": 0.6876696348190308, "left_arm_pose_qw": 0.16294004023075104, "tray_height": 1.2972970008850098, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571664833141919, "pregrasp_distance": 0.040004728639943345, "pregrasp_position_error": 0.040004728639943345, "pregrasp_orientation_error_deg": 9.178157320927083, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.2972970008850098, "p_ext_final_height": 1.2972970008850098, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.5904761904761905, "three_view_whole_tray_visibility": 0.10379945162553861, "full_view_visibility": 0.9569646090534979, "full_view_whole_tray_visibility": 0.9802091507115726, "front_grasp_visibility": 0.2, "front_tray_visibility": 0.033783783783783786, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 18.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 10.0, "overhead_grasp_visibility": 0.4666666666666667, "overhead_tray_visibility": 0.6756756756756757, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 42.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 200.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.4880952380952381, "wrist_left_tray_visibility": 0.07246376811594203, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 41.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 10.0, "over_shoulder_left_grasp_visibility": 0.6888888888888889, "over_shoulder_left_tray_visibility": 0.7665505226480837, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 62.0, "over_shoulder_left_tray_projected_count": 287.0, "over_shoulder_left_tray_visible_count": 220.0, "over_shoulder_right_grasp_visibility": 0.36666666666666664, "over_shoulder_right_tray_visibility": 0.7083333333333334, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 33.0, "over_shoulder_right_tray_projected_count": 288.0, "over_shoulder_right_tray_visible_count": 204.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0303.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0303.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..679bd5afc470d0dc80eec0aa9a48c120bb7d13c5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0303.debug.json
@@ -0,0 +1 @@
+{"frame_index": 303, "state": {"door_angle": 0.39352190494537354, "tray_height": 1.3136241436004639, "tray_grasped_left": true, "left_arm_pose": [0.17833448946475983, -0.03426481783390045, 1.3119134902954102, 0.16484007239341736, 0.6880204081535339, 0.6876638531684875, 0.16301561892032623], "right_arm_pose": [0.27887994050979614, -0.46344685554504395, 1.0851914882659912, -0.5987517833709717, 0.5335774421691895, 0.5729444622993469, 0.16889646649360657], "left_arm_joint_positions": [-0.1279737949371338, -0.5283453464508057, -0.5213861465454102, -2.445948600769043, 1.3193786144256592, 1.6232898235321045, 0.46039140224456787], "right_arm_joint_positions": [1.7528729438781738, 0.3891787528991699, -1.0873661041259766, -2.125227689743042, -0.9718860387802124, 1.8350319862365723, -2.8973050117492676], "pregrasp_goal_pose": [0.17350562237110653, -0.07358898503396884, 1.3065003587891062, 0.19225297310658765, 0.7349212476552799, 0.6284664386703182, 0.1672109133445896], "pregrasp_position_error": 0.039987624036589654, "pregrasp_orientation_error_deg": 9.222011582704408}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.2, "grasp_projected_count": 90, "grasp_visible_count": 18, "tray_visibility": 0.1891891891891892, "tray_projected_count": 296, "tray_visible_count": 56}, "overhead": {"grasp_visibility": 0.5777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 52, "tray_visibility": 0.6993243243243243, "tray_projected_count": 296, "tray_visible_count": 207}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.5, "grasp_projected_count": 84, "grasp_visible_count": 42, "tray_visibility": 0.07246376811594203, "tray_projected_count": 138, "tray_visible_count": 10}, "over_shoulder_left": {"grasp_visibility": 0.7222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 65, "tray_visibility": 0.7757352941176471, "tray_projected_count": 272, "tray_visible_count": 211}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.7071428571428572, "tray_projected_count": 280, "tray_visible_count": 198}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3136241436004639, "final_height": 1.3136241436004639, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0303.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0303.json
new file mode 100644
index 0000000000000000000000000000000000000000..905295c827c4a60840b17346318a91d390db6fb5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0303.json
@@ -0,0 +1 @@
+{"frame_index": 303, "time_norm": 0.8964497041420119, "door_angle": 0.39352190494537354, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27887994050979614, "right_arm_pose_y": -0.46344685554504395, "right_arm_pose_z": 1.0851914882659912, "right_arm_pose_qx": -0.5987517833709717, "right_arm_pose_qy": 0.5335774421691895, "right_arm_pose_qz": 0.5729444622993469, "right_arm_pose_qw": 0.16889646649360657, "left_arm_pose_x": 0.17833448946475983, "left_arm_pose_y": -0.03426481783390045, "left_arm_pose_z": 1.3119134902954102, "left_arm_pose_qx": 0.16484007239341736, "left_arm_pose_qy": 0.6880204081535339, "left_arm_pose_qz": 0.6876638531684875, "left_arm_pose_qw": 0.16301561892032623, "tray_height": 1.3136241436004639, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572275593324808, "pregrasp_distance": 0.039987624036589654, "pregrasp_position_error": 0.039987624036589654, "pregrasp_orientation_error_deg": 9.222011582704408, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3136241436004639, "p_ext_final_height": 1.3136241436004639, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.6, "three_view_whole_tray_visibility": 0.24794359576968272, "full_view_visibility": 0.9734156378600823, "full_view_whole_tray_visibility": 0.9851486661295191, "front_grasp_visibility": 0.2, "front_tray_visibility": 0.1891891891891892, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 18.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 56.0, "overhead_grasp_visibility": 0.5777777777777777, "overhead_tray_visibility": 0.6993243243243243, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 52.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 207.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.5, "wrist_left_tray_visibility": 0.07246376811594203, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 42.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 10.0, "over_shoulder_left_grasp_visibility": 0.7222222222222222, "over_shoulder_left_tray_visibility": 0.7757352941176471, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 65.0, "over_shoulder_left_tray_projected_count": 272.0, "over_shoulder_left_tray_visible_count": 211.0, "over_shoulder_right_grasp_visibility": 0.43333333333333335, "over_shoulder_right_tray_visibility": 0.7071428571428572, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 39.0, "over_shoulder_right_tray_projected_count": 280.0, "over_shoulder_right_tray_visible_count": 198.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0304.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0304.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d9b05ab113727e215378dde5f13992a584b914b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0304.debug.json
@@ -0,0 +1 @@
+{"frame_index": 304, "state": {"door_angle": 0.3940619230270386, "tray_height": 1.328019142150879, "tray_grasped_left": true, "left_arm_pose": [0.17834797501564026, -0.03435784578323364, 1.326405644416809, 0.16486185789108276, 0.6879581809043884, 0.6877031922340393, 0.16309048235416412], "right_arm_pose": [0.2788529098033905, -0.46348971128463745, 1.085222601890564, -0.5987568497657776, 0.5335657596588135, 0.5729548335075378, 0.16888108849525452], "left_arm_joint_positions": [-0.12753605842590332, -0.5362465381622314, -0.5137970447540283, -2.4222731590270996, 1.3207533359527588, 1.6240956783294678, 0.4919067621231079], "right_arm_joint_positions": [1.7528901100158691, 0.38925838470458984, -1.0874605178833008, -2.1250576972961426, -0.971903920173645, 1.8350448608398438, -2.8973121643066406], "pregrasp_goal_pose": [0.1735231598637886, -0.07369513442913374, 1.3209741104196473, 0.19257150033554288, 0.7348479318765347, 0.6285288960978895, 0.16693160589075517], "pregrasp_position_error": 0.04000253343005568, "pregrasp_orientation_error_deg": 9.228946646613513}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.26666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 24, "tray_visibility": 0.04391891891891892, "tray_projected_count": 296, "tray_visible_count": 13}, "overhead": {"grasp_visibility": 0.6666666666666666, "grasp_projected_count": 90, "grasp_visible_count": 60, "tray_visibility": 0.75, "tray_projected_count": 296, "tray_visible_count": 222}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.5595238095238095, "grasp_projected_count": 84, "grasp_visible_count": 47, "tray_visibility": 0.06521739130434782, "tray_projected_count": 138, "tray_visible_count": 9}, "over_shoulder_left": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.7665369649805448, "tray_projected_count": 257, "tray_visible_count": 197}, "over_shoulder_right": {"grasp_visibility": 0.37777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 34, "tray_visibility": 0.6704545454545454, "tray_projected_count": 264, "tray_visible_count": 177}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.328019142150879, "final_height": 1.328019142150879, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0304.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0304.json
new file mode 100644
index 0000000000000000000000000000000000000000..1395ba9a9d85093f641062b7873877fb107b2b96
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0304.json
@@ -0,0 +1 @@
+{"frame_index": 304, "time_norm": 0.8994082840236687, "door_angle": 0.3940619230270386, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788529098033905, "right_arm_pose_y": -0.46348971128463745, "right_arm_pose_z": 1.085222601890564, "right_arm_pose_qx": -0.5987568497657776, "right_arm_pose_qy": 0.5335657596588135, "right_arm_pose_qz": 0.5729548335075378, "right_arm_pose_qw": 0.16888108849525452, "left_arm_pose_x": 0.17834797501564026, "left_arm_pose_y": -0.03435784578323364, "left_arm_pose_z": 1.326405644416809, "left_arm_pose_qx": 0.16486185789108276, "left_arm_pose_qy": 0.6879581809043884, "left_arm_pose_qz": 0.6877031922340393, "left_arm_pose_qw": 0.16309048235416412, "tray_height": 1.328019142150879, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571743248428007, "pregrasp_distance": 0.04000253343005568, "pregrasp_position_error": 0.04000253343005568, "pregrasp_orientation_error_deg": 9.228946646613513, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.328019142150879, "p_ext_final_height": 1.328019142150879, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.676984126984127, "three_view_whole_tray_visibility": 0.10627203290246767, "full_view_visibility": 0.9866008230452675, "full_view_whole_tray_visibility": 0.9828098839013342, "front_grasp_visibility": 0.26666666666666666, "front_tray_visibility": 0.04391891891891892, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 24.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 13.0, "overhead_grasp_visibility": 0.6666666666666666, "overhead_tray_visibility": 0.75, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 60.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 222.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.5595238095238095, "wrist_left_tray_visibility": 0.06521739130434782, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 47.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 9.0, "over_shoulder_left_grasp_visibility": 0.8, "over_shoulder_left_tray_visibility": 0.7665369649805448, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 72.0, "over_shoulder_left_tray_projected_count": 257.0, "over_shoulder_left_tray_visible_count": 197.0, "over_shoulder_right_grasp_visibility": 0.37777777777777777, "over_shoulder_right_tray_visibility": 0.6704545454545454, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 34.0, "over_shoulder_right_tray_projected_count": 264.0, "over_shoulder_right_tray_visible_count": 177.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0305.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0305.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..89564b9d44b813b1dab9ea6df6e2194ef5f295f0
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0305.debug.json
@@ -0,0 +1 @@
+{"frame_index": 305, "state": {"door_angle": 0.39396536350250244, "tray_height": 1.3396110534667969, "tray_grasped_left": true, "left_arm_pose": [0.17823928594589233, -0.03443323075771332, 1.33803391456604, 0.16481545567512512, 0.6878994703292847, 0.6877407431602478, 0.1632264107465744], "right_arm_pose": [0.2788931429386139, -0.46347594261169434, 1.085179328918457, -0.5987465381622314, 0.5335718393325806, 0.5729570388793945, 0.1688900738954544], "left_arm_joint_positions": [-0.12697172164916992, -0.5416421890258789, -0.5080907344818115, -2.402764320373535, 1.3219213485717773, 1.6245064735412598, 0.5165125131607056], "right_arm_joint_positions": [1.7528579235076904, 0.38921332359313965, -1.0873703956604004, -2.125098466873169, -0.9718812704086304, 1.8350515365600586, -2.89730167388916], "pregrasp_goal_pose": [0.17341517248591276, -0.07375178440993667, 1.3323959747740213, 0.19211639692768803, 0.7348668073083937, 0.6284796030528217, 0.16755731584881256], "pregrasp_position_error": 0.04001258673312625, "pregrasp_orientation_error_deg": 9.2282965740675}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.12837837837837837, "tray_projected_count": 296, "tray_visible_count": 38}, "overhead": {"grasp_visibility": 0.6777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 61, "tray_visibility": 0.7162162162162162, "tray_projected_count": 296, "tray_visible_count": 212}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.6428571428571429, "grasp_projected_count": 84, "grasp_visible_count": 54, "tray_visibility": 0.07246376811594203, "tray_projected_count": 138, "tray_visible_count": 10}, "over_shoulder_left": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.7238493723849372, "tray_projected_count": 239, "tray_visible_count": 173}, "over_shoulder_right": {"grasp_visibility": 0.4, "grasp_projected_count": 90, "grasp_visible_count": 36, "tray_visibility": 0.68359375, "tray_projected_count": 256, "tray_visible_count": 175}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3396110534667969, "final_height": 1.3396110534667969, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0305.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0305.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd1081c23e215128786c3d0e4151d365bed0b700
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0305.json
@@ -0,0 +1 @@
+{"frame_index": 305, "time_norm": 0.9023668639053254, "door_angle": 0.39396536350250244, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788931429386139, "right_arm_pose_y": -0.46347594261169434, "right_arm_pose_z": 1.085179328918457, "right_arm_pose_qx": -0.5987465381622314, "right_arm_pose_qy": 0.5335718393325806, "right_arm_pose_qz": 0.5729570388793945, "right_arm_pose_qw": 0.1688900738954544, "left_arm_pose_x": 0.17823928594589233, "left_arm_pose_y": -0.03443323075771332, "left_arm_pose_z": 1.33803391456604, "left_arm_pose_qx": 0.16481545567512512, "left_arm_pose_qy": 0.6878994703292847, "left_arm_pose_qz": 0.6877407431602478, "left_arm_pose_qw": 0.1632264107465744, "tray_height": 1.3396110534667969, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571384416734427, "pregrasp_distance": 0.04001258673312625, "pregrasp_position_error": 0.04001258673312625, "pregrasp_orientation_error_deg": 9.2282965740675, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3396110534667969, "p_ext_final_height": 1.3396110534667969, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7936507936507937, "three_view_whole_tray_visibility": 0.1915393654524089, "full_view_visibility": 0.9946807760141093, "full_view_whole_tray_visibility": 0.9799535469443257, "front_grasp_visibility": 0.4222222222222222, "front_tray_visibility": 0.12837837837837837, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 38.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 38.0, "overhead_grasp_visibility": 0.6777777777777778, "overhead_tray_visibility": 0.7162162162162162, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 61.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 212.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.6428571428571429, "wrist_left_tray_visibility": 0.07246376811594203, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 54.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 10.0, "over_shoulder_left_grasp_visibility": 0.8666666666666667, "over_shoulder_left_tray_visibility": 0.7238493723849372, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 78.0, "over_shoulder_left_tray_projected_count": 239.0, "over_shoulder_left_tray_visible_count": 173.0, "over_shoulder_right_grasp_visibility": 0.4, "over_shoulder_right_tray_visibility": 0.68359375, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 36.0, "over_shoulder_right_tray_projected_count": 256.0, "over_shoulder_right_tray_visible_count": 175.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0306.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0306.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ff6ea17f46294991a7dd5db263ecf6d32078d1
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0306.debug.json
@@ -0,0 +1 @@
+{"frame_index": 306, "state": {"door_angle": 0.39343583583831787, "tray_height": 1.3478963375091553, "tray_grasped_left": true, "left_arm_pose": [0.17815272510051727, -0.034409619867801666, 1.3462181091308594, 0.1648309826850891, 0.6878432631492615, 0.6877883076667786, 0.16324742138385773], "right_arm_pose": [0.27889952063560486, -0.4634554982185364, 1.0851460695266724, -0.5987574458122253, 0.5335314869880676, 0.5729683637619019, 0.16894088685512543], "left_arm_joint_positions": [-0.12644529342651367, -0.5449869632720947, -0.5042057037353516, -2.388894557952881, 1.3227949142456055, 1.6246492862701416, 0.5337852239608765], "right_arm_joint_positions": [1.7528765201568604, 0.38925647735595703, -1.0873198509216309, -2.1251540184020996, -0.971892237663269, 1.8350317478179932, -2.8973026275634766], "pregrasp_goal_pose": [0.1733404675550344, -0.0737604708397897, 1.3408097919213513, 0.19247632386892236, 0.7348719395808164, 0.6284716992890375, 0.16715089099189454], "pregrasp_position_error": 0.040011213302552195, "pregrasp_orientation_error_deg": 9.24803756328938}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.6, "grasp_projected_count": 90, "grasp_visible_count": 54, "tray_visibility": 0.2195945945945946, "tray_projected_count": 296, "tray_visible_count": 65}, "overhead": {"grasp_visibility": 0.8, "grasp_projected_count": 90, "grasp_visible_count": 72, "tray_visibility": 0.6891891891891891, "tray_projected_count": 296, "tray_visible_count": 204}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.7142857142857143, "grasp_projected_count": 84, "grasp_visible_count": 60, "tray_visibility": 0.08695652173913043, "tray_projected_count": 138, "tray_visible_count": 12}, "over_shoulder_left": {"grasp_visibility": 0.9777777777777777, "grasp_projected_count": 90, "grasp_visible_count": 88, "tray_visibility": 0.7248908296943232, "tray_projected_count": 229, "tray_visible_count": 166}, "over_shoulder_right": {"grasp_visibility": 0.45555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 41, "tray_visibility": 0.6951219512195121, "tray_projected_count": 246, "tray_visible_count": 171}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3478963375091553, "final_height": 1.3478963375091553, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0306.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0306.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4c16c8cc7d86a57af28cfe66c9d4cbf6041fe67
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0306.json
@@ -0,0 +1 @@
+{"frame_index": 306, "time_norm": 0.9053254437869822, "door_angle": 0.39343583583831787, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27889952063560486, "right_arm_pose_y": -0.4634554982185364, "right_arm_pose_z": 1.0851460695266724, "right_arm_pose_qx": -0.5987574458122253, "right_arm_pose_qy": 0.5335314869880676, "right_arm_pose_qz": 0.5729683637619019, "right_arm_pose_qw": 0.16894088685512543, "left_arm_pose_x": 0.17815272510051727, "left_arm_pose_y": -0.034409619867801666, "left_arm_pose_z": 1.3462181091308594, "left_arm_pose_qx": 0.1648309826850891, "left_arm_pose_qy": 0.6878432631492615, "left_arm_pose_qz": 0.6877883076667786, "left_arm_pose_qw": 0.16324742138385773, "tray_height": 1.3478963375091553, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571433266268347, "pregrasp_distance": 0.040011213302552195, "pregrasp_position_error": 0.040011213302552195, "pregrasp_orientation_error_deg": 9.24803756328938, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3478963375091553, "p_ext_final_height": 1.3478963375091553, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8857142857142857, "three_view_whole_tray_visibility": 0.28745593419506466, "full_view_visibility": 0.9997234567901234, "full_view_whole_tray_visibility": 0.9814245618191906, "front_grasp_visibility": 0.6, "front_tray_visibility": 0.2195945945945946, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 54.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 65.0, "overhead_grasp_visibility": 0.8, "overhead_tray_visibility": 0.6891891891891891, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 72.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 204.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7142857142857143, "wrist_left_tray_visibility": 0.08695652173913043, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 60.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 12.0, "over_shoulder_left_grasp_visibility": 0.9777777777777777, "over_shoulder_left_tray_visibility": 0.7248908296943232, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 88.0, "over_shoulder_left_tray_projected_count": 229.0, "over_shoulder_left_tray_visible_count": 166.0, "over_shoulder_right_grasp_visibility": 0.45555555555555555, "over_shoulder_right_tray_visibility": 0.6951219512195121, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 41.0, "over_shoulder_right_tray_projected_count": 246.0, "over_shoulder_right_tray_visible_count": 171.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0307.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0307.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fab856640b8d45fc068e9815e9d4856b5b4199d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0307.debug.json
@@ -0,0 +1 @@
+{"frame_index": 307, "state": {"door_angle": 0.3936532735824585, "tray_height": 1.350659728050232, "tray_grasped_left": true, "left_arm_pose": [0.17812488973140717, -0.03440193086862564, 1.3492224216461182, 0.16487261652946472, 0.6878331303596497, 0.6878015398979187, 0.1631920486688614], "right_arm_pose": [0.27886754274368286, -0.46343111991882324, 1.0851742029190063, -0.5987241268157959, 0.5335611701011658, 0.5729758143424988, 0.16893959045410156], "left_arm_joint_positions": [-0.12626910209655762, -0.5459988117218018, -0.5028436183929443, -2.3839025497436523, 1.3231115341186523, 1.6246883869171143, 0.5398207902908325], "right_arm_joint_positions": [1.7528696060180664, 0.3893251419067383, -1.087355136871338, -2.125255823135376, -0.9718626737594604, 1.8350279331207275, -2.897303342819214], "pregrasp_goal_pose": [0.1733033519742413, -0.07373346016204851, 1.3436403528736092, 0.19256104624733675, 0.7350038714600085, 0.6283102843298723, 0.16708003774312893], "pregrasp_position_error": 0.04001719523759977, "pregrasp_orientation_error_deg": 9.273868700434837}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.375, "tray_projected_count": 296, "tray_visible_count": 111}, "overhead": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.6891891891891891, "tray_projected_count": 296, "tray_visible_count": 204}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8095238095238095, "grasp_projected_count": 84, "grasp_visible_count": 68, "tray_visibility": 0.10869565217391304, "tray_projected_count": 138, "tray_visible_count": 15}, "over_shoulder_left": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.6960352422907489, "tray_projected_count": 227, "tray_visible_count": 158}, "over_shoulder_right": {"grasp_visibility": 0.45555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 41, "tray_visibility": 0.7295081967213115, "tray_projected_count": 244, "tray_visible_count": 178}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.350659728050232, "final_height": 1.350659728050232, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0307.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0307.json
new file mode 100644
index 0000000000000000000000000000000000000000..13fd308ccc48b44ba8dd8ffa6b3940d6eda12a60
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0307.json
@@ -0,0 +1 @@
+{"frame_index": 307, "time_norm": 0.908284023668639, "door_angle": 0.3936532735824585, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27886754274368286, "right_arm_pose_y": -0.46343111991882324, "right_arm_pose_z": 1.0851742029190063, "right_arm_pose_qx": -0.5987241268157959, "right_arm_pose_qy": 0.5335611701011658, "right_arm_pose_qz": 0.5729758143424988, "right_arm_pose_qw": 0.16893959045410156, "left_arm_pose_x": 0.17812488973140717, "left_arm_pose_y": -0.03440193086862564, "left_arm_pose_z": 1.3492224216461182, "left_arm_pose_qx": 0.16487261652946472, "left_arm_pose_qy": 0.6878331303596497, "left_arm_pose_qz": 0.6878015398979187, "left_arm_pose_qw": 0.1631920486688614, "tray_height": 1.350659728050232, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8571219783957384, "pregrasp_distance": 0.04001719523759977, "pregrasp_position_error": 0.04001719523759977, "pregrasp_orientation_error_deg": 9.273868700434837, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.350659728050232, "p_ext_final_height": 1.350659728050232, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.964021164021164, "three_view_whole_tray_visibility": 0.4429347826086957, "full_view_visibility": 0.9998839201341259, "full_view_whole_tray_visibility": 0.9857642778999842, "front_grasp_visibility": 0.8111111111111111, "front_tray_visibility": 0.375, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 73.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 111.0, "overhead_grasp_visibility": 0.8222222222222222, "overhead_tray_visibility": 0.6891891891891891, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 74.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 204.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8095238095238095, "wrist_left_tray_visibility": 0.10869565217391304, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 68.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 15.0, "over_shoulder_left_grasp_visibility": 0.9666666666666667, "over_shoulder_left_tray_visibility": 0.6960352422907489, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 87.0, "over_shoulder_left_tray_projected_count": 227.0, "over_shoulder_left_tray_visible_count": 158.0, "over_shoulder_right_grasp_visibility": 0.45555555555555555, "over_shoulder_right_tray_visibility": 0.7295081967213115, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 41.0, "over_shoulder_right_tray_projected_count": 244.0, "over_shoulder_right_tray_visible_count": 178.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0308.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0308.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1278464e936b93f838e51a8a07a6ba2c4245188
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0308.debug.json
@@ -0,0 +1 @@
+{"frame_index": 308, "state": {"door_angle": 0.3940063714981079, "tray_height": 1.3532860279083252, "tray_grasped_left": true, "left_arm_pose": [0.1781066656112671, -0.03436518460512161, 1.3518669605255127, 0.1649530529975891, 0.6878233551979065, 0.6878133416175842, 0.16310228407382965], "right_arm_pose": [0.2788833677768707, -0.4634488821029663, 1.0851712226867676, -0.5987420678138733, 0.5335496664047241, 0.5729669332504272, 0.16894268989562988], "left_arm_joint_positions": [-0.12604856491088867, -0.5469880104064941, -0.5015523433685303, -2.379167079925537, 1.323396921157837, 1.624706506729126, 0.5458556413650513], "right_arm_joint_positions": [1.7528679370880127, 0.38928699493408203, -1.0873587131500244, -2.1252527236938477, -0.9718984365463257, 1.8350677490234375, -2.8973166942596436], "pregrasp_goal_pose": [0.17325494579960946, -0.07368865221197737, 1.3466791227090826, 0.19308206069678482, 0.7357407943750597, 0.6274456269856554, 0.16648359230271573], "pregrasp_position_error": 0.03995982921594945, "pregrasp_orientation_error_deg": 9.41243138757674}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.7666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 69, "tray_visibility": 0.46283783783783783, "tray_projected_count": 296, "tray_visible_count": 137}, "overhead": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.6452702702702703, "tray_projected_count": 296, "tray_visible_count": 191}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.7477477477477478, "tray_projected_count": 222, "tray_visible_count": 166}, "over_shoulder_right": {"grasp_visibility": 0.4222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 38, "tray_visibility": 0.7, "tray_projected_count": 240, "tray_visible_count": 168}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3532860279083252, "final_height": 1.3532860279083252, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0308.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0308.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f227650db2a1023280a19ef216472a6b8bacc14
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0308.json
@@ -0,0 +1 @@
+{"frame_index": 308, "time_norm": 0.9112426035502958, "door_angle": 0.3940063714981079, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788833677768707, "right_arm_pose_y": -0.4634488821029663, "right_arm_pose_z": 1.0851712226867676, "right_arm_pose_qx": -0.5987420678138733, "right_arm_pose_qy": 0.5335496664047241, "right_arm_pose_qz": 0.5729669332504272, "right_arm_pose_qw": 0.16894268989562988, "left_arm_pose_x": 0.1781066656112671, "left_arm_pose_y": -0.03436518460512161, "left_arm_pose_z": 1.3518669605255127, "left_arm_pose_qx": 0.1649530529975891, "left_arm_pose_qy": 0.6878233551979065, "left_arm_pose_qz": 0.6878133416175842, "left_arm_pose_qw": 0.16310228407382965, "tray_height": 1.3532860279083252, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8573268048816018, "pregrasp_distance": 0.03995982921594945, "pregrasp_position_error": 0.03995982921594945, "pregrasp_orientation_error_deg": 9.41243138757674, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3532860279083252, "p_ext_final_height": 1.3532860279083252, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9583333333333334, "three_view_whole_tray_visibility": 0.525117508813161, "full_view_visibility": 0.9996463191586649, "full_view_whole_tray_visibility": 0.9872520587647068, "front_grasp_visibility": 0.7666666666666667, "front_tray_visibility": 0.46283783783783783, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 69.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 137.0, "overhead_grasp_visibility": 0.8111111111111111, "overhead_tray_visibility": 0.6452702702702703, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 73.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 191.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9222222222222223, "over_shoulder_left_tray_visibility": 0.7477477477477478, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 83.0, "over_shoulder_left_tray_projected_count": 222.0, "over_shoulder_left_tray_visible_count": 166.0, "over_shoulder_right_grasp_visibility": 0.4222222222222222, "over_shoulder_right_tray_visibility": 0.7, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 38.0, "over_shoulder_right_tray_projected_count": 240.0, "over_shoulder_right_tray_visible_count": 168.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0309.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0309.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f4f138db9cd078ad721221ef597b0d76d9c9bd5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0309.debug.json
@@ -0,0 +1 @@
+{"frame_index": 309, "state": {"door_angle": 0.3933635950088501, "tray_height": 1.3544282913208008, "tray_grasped_left": true, "left_arm_pose": [0.17807629704475403, -0.0343574658036232, 1.3529750108718872, 0.16494640707969666, 0.6878122091293335, 0.6878229379653931, 0.16311532258987427], "right_arm_pose": [0.27890074253082275, -0.46345454454421997, 1.0851237773895264, -0.5987594127655029, 0.533534824848175, 0.5729609727859497, 0.16894835233688354], "left_arm_joint_positions": [-0.1259758472442627, -0.547405481338501, -0.5010790824890137, -2.377352714538574, 1.3234782218933105, 1.6247186660766602, 0.5479229688644409], "right_arm_joint_positions": [1.7528800964355469, 0.3892948627471924, -1.0873703956604004, -2.125213861465454, -0.9718598127365112, 1.8350212574005127, -2.8973195552825928], "pregrasp_goal_pose": [0.17326277754368025, -0.07370797357843069, 1.3473314271107146, 0.1925761311757124, 0.734721326030163, 0.6286488814585509, 0.167031705429797], "pregrasp_position_error": 0.04004350721142908, "pregrasp_orientation_error_deg": 9.227486361764706}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8222222222222222, "grasp_projected_count": 90, "grasp_visible_count": 74, "tray_visibility": 0.5101351351351351, "tray_projected_count": 296, "tray_visible_count": 151}, "overhead": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.6283783783783784, "tray_projected_count": 296, "tray_visible_count": 186}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9222222222222223, "grasp_projected_count": 90, "grasp_visible_count": 83, "tray_visibility": 0.755656108597285, "tray_projected_count": 221, "tray_visible_count": 167}, "over_shoulder_right": {"grasp_visibility": 0.43333333333333335, "grasp_projected_count": 90, "grasp_visible_count": 39, "tray_visibility": 0.7088607594936709, "tray_projected_count": 237, "tray_visible_count": 168}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3544282913208008, "final_height": 1.3544282913208008, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0309.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0309.json
new file mode 100644
index 0000000000000000000000000000000000000000..46e22f05b47762c3ed908fbc587d6681a86ccddb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0309.json
@@ -0,0 +1 @@
+{"frame_index": 309, "time_norm": 0.9142011834319527, "door_angle": 0.3933635950088501, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27890074253082275, "right_arm_pose_y": -0.46345454454421997, "right_arm_pose_z": 1.0851237773895264, "right_arm_pose_qx": -0.5987594127655029, "right_arm_pose_qy": 0.533534824848175, "right_arm_pose_qz": 0.5729609727859497, "right_arm_pose_qw": 0.16894835233688354, "left_arm_pose_x": 0.17807629704475403, "left_arm_pose_y": -0.0343574658036232, "left_arm_pose_z": 1.3529750108718872, "left_arm_pose_qx": 0.16494640707969666, "left_arm_pose_qy": 0.6878122091293335, "left_arm_pose_qz": 0.6878229379653931, "left_arm_pose_qw": 0.16311532258987427, "tray_height": 1.3544282913208008, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8570280335184435, "pregrasp_distance": 0.04004350721142908, "pregrasp_position_error": 0.04004350721142908, "pregrasp_orientation_error_deg": 9.227486361764706, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3544282913208008, "p_ext_final_height": 1.3544282913208008, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9682539682539683, "three_view_whole_tray_visibility": 0.5669310614962788, "full_view_visibility": 0.9997357110196616, "full_view_whole_tray_visibility": 0.9885511928374318, "front_grasp_visibility": 0.8222222222222222, "front_tray_visibility": 0.5101351351351351, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 74.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 151.0, "overhead_grasp_visibility": 0.8111111111111111, "overhead_tray_visibility": 0.6283783783783784, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 73.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 186.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9222222222222223, "over_shoulder_left_tray_visibility": 0.755656108597285, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 83.0, "over_shoulder_left_tray_projected_count": 221.0, "over_shoulder_left_tray_visible_count": 167.0, "over_shoulder_right_grasp_visibility": 0.43333333333333335, "over_shoulder_right_tray_visibility": 0.7088607594936709, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 39.0, "over_shoulder_right_tray_projected_count": 237.0, "over_shoulder_right_tray_visible_count": 168.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0310.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0310.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f6bcda51e2a7c8f7d95c8fb0465aa1d2542eac
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0310.debug.json
@@ -0,0 +1 @@
+{"frame_index": 310, "state": {"door_angle": 0.39348137378692627, "tray_height": 1.354569435119629, "tray_grasped_left": true, "left_arm_pose": [0.1785290688276291, -0.03351510316133499, 1.3533070087432861, 0.1649935096502304, 0.6878100633621216, 0.6878150105476379, 0.16311070322990417], "right_arm_pose": [0.2788302004337311, -0.46347948908805847, 1.0853102207183838, -0.598691999912262, 0.5336097478866577, 0.572978675365448, 0.168890580534935], "left_arm_joint_positions": [-0.12532830238342285, -0.5475246906280518, -0.49902892112731934, -2.3773465156555176, 1.3249013423919678, 1.6268548965454102, 0.548564076423645], "right_arm_joint_positions": [1.7522916793823242, 0.3888998031616211, -1.0867996215820312, -2.1247847080230713, -0.9722009897232056, 1.8345298767089844, -2.8973052501678467], "pregrasp_goal_pose": [0.1736413559898972, -0.07281088206816214, 1.3478377493474847, 0.19318310773729255, 0.7352240246106237, 0.6280483919968277, 0.16637649422474815], "pregrasp_position_error": 0.0399745015605815, "pregrasp_orientation_error_deg": 9.329971334689741}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.5506756756756757, "tray_projected_count": 296, "tray_visible_count": 163}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.6790540540540541, "tray_projected_count": 296, "tray_visible_count": 201}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 87, "tray_visibility": 0.7647058823529411, "tray_projected_count": 221, "tray_visible_count": 169}, "over_shoulder_right": {"grasp_visibility": 0.4444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 40, "tray_visibility": 0.652542372881356, "tray_projected_count": 236, "tray_visible_count": 154}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.354569435119629, "final_height": 1.354569435119629, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0310.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0310.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9266edb773148dfde045694c072c40949a05f48
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0310.json
@@ -0,0 +1 @@
+{"frame_index": 310, "time_norm": 0.9171597633136095, "door_angle": 0.39348137378692627, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2788302004337311, "right_arm_pose_y": -0.46347948908805847, "right_arm_pose_z": 1.0853102207183838, "right_arm_pose_qx": -0.598691999912262, "right_arm_pose_qy": 0.5336097478866577, "right_arm_pose_qz": 0.572978675365448, "right_arm_pose_qw": 0.168890580534935, "left_arm_pose_x": 0.1785290688276291, "left_arm_pose_y": -0.03351510316133499, "left_arm_pose_z": 1.3533070087432861, "left_arm_pose_qx": 0.1649935096502304, "left_arm_pose_qy": 0.6878100633621216, "left_arm_pose_qz": 0.6878150105476379, "left_arm_pose_qw": 0.16311070322990417, "tray_height": 1.354569435119629, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572744069761994, "pregrasp_distance": 0.0399745015605815, "pregrasp_position_error": 0.0399745015605815, "pregrasp_orientation_error_deg": 9.329971334689741, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.354569435119629, "p_ext_final_height": 1.354569435119629, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9841269841269841, "three_view_whole_tray_visibility": 0.6027712495103799, "full_view_visibility": 0.9999640734208636, "full_view_whole_tray_visibility": 0.9895771739972173, "front_grasp_visibility": 0.9111111111111111, "front_tray_visibility": 0.5506756756756757, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 82.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 163.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.6790540540540541, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 201.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9666666666666667, "over_shoulder_left_tray_visibility": 0.7647058823529411, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 87.0, "over_shoulder_left_tray_projected_count": 221.0, "over_shoulder_left_tray_visible_count": 169.0, "over_shoulder_right_grasp_visibility": 0.4444444444444444, "over_shoulder_right_tray_visibility": 0.652542372881356, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 40.0, "over_shoulder_right_tray_projected_count": 236.0, "over_shoulder_right_tray_visible_count": 154.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0315.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0315.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c4d1e332a5a5b53c5b8641773333df618bd309b
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0315.debug.json
@@ -0,0 +1 @@
+{"frame_index": 315, "state": {"door_angle": 0.3935941457748413, "tray_height": 1.3553732633590698, "tray_grasped_left": true, "left_arm_pose": [0.19918592274188995, 0.006937429308891296, 1.3540011644363403, 0.16479428112506866, 0.687944233417511, 0.6877312660217285, 0.16309918463230133], "right_arm_pose": [0.2787887454032898, -0.4635404050350189, 1.0854244232177734, -0.5986607074737549, 0.533646285533905, 0.5729904770851135, 0.16884560883045197], "left_arm_joint_positions": [-0.09270715713500977, -0.5456352233886719, -0.41588664054870605, -2.3937058448791504, 1.3902373313903809, 1.7215325832366943, 0.5424250364303589], "right_arm_joint_positions": [1.7519867420196533, 0.388690710067749, -1.0863988399505615, -2.1244702339172363, -0.9723294973373413, 1.8342242240905762, -2.897291660308838], "pregrasp_goal_pose": [0.19437042385200823, -0.03244694337677144, 1.3484308340988542, 0.19244017159516086, 0.7352877001216745, 0.6280409890880291, 0.1669829165859006], "pregrasp_position_error": 0.040066774532901285, "pregrasp_orientation_error_deg": 9.30051997510291}, "visibility": {"best_grasp_visibility_camera": "overhead", "best_whole_tray_visibility_camera": "over_shoulder_right", "camera_values": {"front": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.5337837837837838, "tray_projected_count": 296, "tray_visible_count": 158}, "overhead": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6866359447004609, "tray_projected_count": 217, "tray_visible_count": 149}, "over_shoulder_right": {"grasp_visibility": 0.36666666666666664, "grasp_projected_count": 90, "grasp_visible_count": 33, "tray_visibility": 0.705, "tray_projected_count": 200, "tray_visible_count": 141}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3553732633590698, "final_height": 1.3553732633590698, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0315.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0315.json
new file mode 100644
index 0000000000000000000000000000000000000000..95890426deedec29be645a702cb669cd7eb27c09
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0315.json
@@ -0,0 +1 @@
+{"frame_index": 315, "time_norm": 0.9319526627218935, "door_angle": 0.3935941457748413, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2787887454032898, "right_arm_pose_y": -0.4635404050350189, "right_arm_pose_z": 1.0854244232177734, "right_arm_pose_qx": -0.5986607074737549, "right_arm_pose_qy": 0.533646285533905, "right_arm_pose_qz": 0.5729904770851135, "right_arm_pose_qw": 0.16884560883045197, "left_arm_pose_x": 0.19918592274188995, "left_arm_pose_y": 0.006937429308891296, "left_arm_pose_z": 1.3540011644363403, "left_arm_pose_qx": 0.16479428112506866, "left_arm_pose_qy": 0.687944233417511, "left_arm_pose_qz": 0.6877312660217285, "left_arm_pose_qw": 0.16309918463230133, "tray_height": 1.3553732633590698, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8569449577479754, "pregrasp_distance": 0.040066774532901285, "pregrasp_position_error": 0.040066774532901285, "pregrasp_orientation_error_deg": 9.30051997510291, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3553732633590698, "p_ext_final_height": 1.3553732633590698, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9841269841269841, "three_view_whole_tray_visibility": 0.5878378378378378, "full_view_visibility": 0.9999553203997649, "full_view_whole_tray_visibility": 0.9882864375927802, "front_grasp_visibility": 0.9111111111111111, "front_tray_visibility": 0.5337837837837838, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 82.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 158.0, "overhead_grasp_visibility": 0.9333333333333333, "overhead_tray_visibility": 0.6925675675675675, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 84.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 205.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9333333333333333, "over_shoulder_left_tray_visibility": 0.6866359447004609, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 84.0, "over_shoulder_left_tray_projected_count": 217.0, "over_shoulder_left_tray_visible_count": 149.0, "over_shoulder_right_grasp_visibility": 0.36666666666666664, "over_shoulder_right_tray_visibility": 0.705, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 33.0, "over_shoulder_right_tray_projected_count": 200.0, "over_shoulder_right_tray_visible_count": 141.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0316.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0316.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..896f0db3ed50b18a1f69246237a743cd6ff5636a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0316.debug.json
@@ -0,0 +1 @@
+{"frame_index": 316, "state": {"door_angle": 0.3935900926589966, "tray_height": 1.355412483215332, "tray_grasped_left": true, "left_arm_pose": [0.20614489912986755, 0.02071470022201538, 1.354201316833496, 0.1647077202796936, 0.6879894733428955, 0.6877010464668274, 0.16312327980995178], "right_arm_pose": [0.2787828743457794, -0.4635273218154907, 1.0853956937789917, -0.5986828804016113, 0.5336107015609741, 0.5729871988296509, 0.16889062523841858], "left_arm_joint_positions": [-0.08045220375061035, -0.541212797164917, -0.3891878128051758, -2.3953652381896973, 1.4131855964660645, 1.7522923946380615, 0.5393053293228149], "right_arm_joint_positions": [1.7519872188568115, 0.38872647285461426, -1.0863845348358154, -2.1245710849761963, -0.9723342657089233, 1.8342797756195068, -2.897329092025757], "pregrasp_goal_pose": [0.2013493820304974, -0.018659373062943296, 1.3485375086558893, 0.192507598069411, 0.7353992639929475, 0.6279278084831402, 0.16683948734558596], "pregrasp_position_error": 0.04006736021217737, "pregrasp_orientation_error_deg": 9.317084764391643}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.5033783783783784, "tray_projected_count": 296, "tray_visible_count": 149}, "overhead": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.706081081081081, "tray_projected_count": 296, "tray_visible_count": 209}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7666666666666667, "tray_projected_count": 210, "tray_visible_count": 161}, "over_shoulder_right": {"grasp_visibility": 0.3333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 30, "tray_visibility": 0.6384180790960452, "tray_projected_count": 177, "tray_visible_count": 113}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.355412483215332, "final_height": 1.355412483215332, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0316.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0316.json
new file mode 100644
index 0000000000000000000000000000000000000000..709752d70d18b0df94435d3a8c3c2a732c2dafbd
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0316.json
@@ -0,0 +1 @@
+{"frame_index": 316, "time_norm": 0.9349112426035503, "door_angle": 0.3935900926589966, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2787828743457794, "right_arm_pose_y": -0.4635273218154907, "right_arm_pose_z": 1.0853956937789917, "right_arm_pose_qx": -0.5986828804016113, "right_arm_pose_qy": 0.5336107015609741, "right_arm_pose_qz": 0.5729871988296509, "right_arm_pose_qw": 0.16889062523841858, "left_arm_pose_x": 0.20614489912986755, "left_arm_pose_y": 0.02071470022201538, "left_arm_pose_z": 1.354201316833496, "left_arm_pose_qx": 0.1647077202796936, "left_arm_pose_qy": 0.6879894733428955, "left_arm_pose_qz": 0.6877010464668274, "left_arm_pose_qw": 0.16312327980995178, "tray_height": 1.355412483215332, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8569428655336855, "pregrasp_distance": 0.04006736021217737, "pregrasp_position_error": 0.04006736021217737, "pregrasp_orientation_error_deg": 9.317084764391643, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.355412483215332, "p_ext_final_height": 1.355412483215332, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9761904761904762, "three_view_whole_tray_visibility": 0.560957696827262, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9891127698831497, "front_grasp_visibility": 0.8666666666666667, "front_tray_visibility": 0.5033783783783784, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 78.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 149.0, "overhead_grasp_visibility": 0.8666666666666667, "overhead_tray_visibility": 0.706081081081081, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 78.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 209.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.7666666666666667, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 210.0, "over_shoulder_left_tray_visible_count": 161.0, "over_shoulder_right_grasp_visibility": 0.3333333333333333, "over_shoulder_right_tray_visibility": 0.6384180790960452, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 30.0, "over_shoulder_right_tray_projected_count": 177.0, "over_shoulder_right_tray_visible_count": 113.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0317.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0317.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..3971f971c4746ebead21859e9c4465dcea92b33d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0317.debug.json
@@ -0,0 +1 @@
+{"frame_index": 317, "state": {"door_angle": 0.39411866664886475, "tray_height": 1.3556115627288818, "tray_grasped_left": true, "left_arm_pose": [0.2132725715637207, 0.034677065908908844, 1.3543999195098877, 0.1646791249513626, 0.6880120038986206, 0.6876704096794128, 0.1631859540939331], "right_arm_pose": [0.27878445386886597, -0.46355143189430237, 1.0854249000549316, -0.5986565351486206, 0.5336443781852722, 0.5729995369911194, 0.1688358634710312], "left_arm_joint_positions": [-0.06759500503540039, -0.5347132682800293, -0.36253833770751953, -2.394869804382324, 1.4369747638702393, 1.783189296722412, 0.5356463193893433], "right_arm_joint_positions": [1.7520012855529785, 0.388657808303833, -1.0863986015319824, -2.1244308948516846, -0.972354531288147, 1.8342928886413574, -2.8973116874694824], "pregrasp_goal_pose": [0.20841940599917932, -0.004676025630147393, 1.3492293309724048, 0.19338579617461116, 0.7359943844866638, 0.6272206985276206, 0.1658565500079272], "pregrasp_position_error": 0.03998692305619599, "pregrasp_orientation_error_deg": 9.44357124600171}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.8888888888888888, "grasp_projected_count": 90, "grasp_visible_count": 80, "tray_visibility": 0.5135135135135135, "tray_projected_count": 296, "tray_visible_count": 152}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.7094594594594594, "tray_projected_count": 296, "tray_visible_count": 210}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8452380952380952, "grasp_projected_count": 84, "grasp_visible_count": 71, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9333333333333333, "grasp_projected_count": 90, "grasp_visible_count": 84, "tray_visibility": 0.6376811594202898, "tray_projected_count": 207, "tray_visible_count": 132}, "over_shoulder_right": {"grasp_visibility": 0.32222222222222224, "grasp_projected_count": 90, "grasp_visible_count": 29, "tray_visibility": 0.6764705882352942, "tray_projected_count": 170, "tray_visible_count": 115}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3556115627288818, "final_height": 1.3556115627288818, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0317.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0317.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c07f40a0868b269124f97c759f1e5671130b287
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0317.json
@@ -0,0 +1 @@
+{"frame_index": 317, "time_norm": 0.9378698224852071, "door_angle": 0.39411866664886475, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27878445386886597, "right_arm_pose_y": -0.46355143189430237, "right_arm_pose_z": 1.0854249000549316, "right_arm_pose_qx": -0.5986565351486206, "right_arm_pose_qy": 0.5336443781852722, "right_arm_pose_qz": 0.5729995369911194, "right_arm_pose_qw": 0.1688358634710312, "left_arm_pose_x": 0.2132725715637207, "left_arm_pose_y": 0.034677065908908844, "left_arm_pose_z": 1.3543999195098877, "left_arm_pose_qx": 0.1646791249513626, "left_arm_pose_qy": 0.6880120038986206, "left_arm_pose_qz": 0.6876704096794128, "left_arm_pose_qw": 0.1631859540939331, "tray_height": 1.3556115627288818, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572300699333628, "pregrasp_distance": 0.03998692305619599, "pregrasp_position_error": 0.03998692305619599, "pregrasp_orientation_error_deg": 9.44357124600171, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3556115627288818, "p_ext_final_height": 1.3556115627288818, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9828042328042328, "three_view_whole_tray_visibility": 0.5699177438307872, "full_view_visibility": 0.999905034075816, "full_view_whole_tray_visibility": 0.9853525187230682, "front_grasp_visibility": 0.8888888888888888, "front_tray_visibility": 0.5135135135135135, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 80.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 152.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.7094594594594594, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 210.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8452380952380952, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 71.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9333333333333333, "over_shoulder_left_tray_visibility": 0.6376811594202898, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 84.0, "over_shoulder_left_tray_projected_count": 207.0, "over_shoulder_left_tray_visible_count": 132.0, "over_shoulder_right_grasp_visibility": 0.32222222222222224, "over_shoulder_right_tray_visibility": 0.6764705882352942, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 29.0, "over_shoulder_right_tray_projected_count": 170.0, "over_shoulder_right_tray_visible_count": 115.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0318.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0318.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e03d40beaecf30babc0362bdbed9edd54d39b72
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0318.debug.json
@@ -0,0 +1 @@
+{"frame_index": 318, "state": {"door_angle": 0.39404118061065674, "tray_height": 1.3561207056045532, "tray_grasped_left": true, "left_arm_pose": [0.22040458023548126, 0.04872869700193405, 1.3545745611190796, 0.16467832028865814, 0.6880052089691162, 0.6876636743545532, 0.16324381530284882], "right_arm_pose": [0.2787812650203705, -0.4635128378868103, 1.085415244102478, -0.5986600518226624, 0.5336231589317322, 0.5730003118515015, 0.16888822615146637], "left_arm_joint_positions": [-0.05423426628112793, -0.526386022567749, -0.33646368980407715, -2.392223834991455, 1.4611363410949707, 1.8137812614440918, 0.5315598249435425], "right_arm_joint_positions": [1.751997947692871, 0.3886995315551758, -1.0864198207855225, -2.124581813812256, -0.9723540544509888, 1.8342502117156982, -2.897315502166748], "pregrasp_goal_pose": [0.21556492753105824, 0.009419171535455961, 1.3492287992510306, 0.19256246847038605, 0.7353474286625922, 0.6279488394427474, 0.16692546222314936], "pregrasp_position_error": 0.03996546259771061, "pregrasp_orientation_error_deg": 9.310773113004885}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.5912162162162162, "tray_projected_count": 296, "tray_visible_count": 175}, "overhead": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.75, "tray_projected_count": 296, "tray_visible_count": 222}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.8235294117647058, "tray_projected_count": 204, "tray_visible_count": 168}, "over_shoulder_right": {"grasp_visibility": 0.2777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 25, "tray_visibility": 0.7446808510638298, "tray_projected_count": 141, "tray_visible_count": 105}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3561207056045532, "final_height": 1.3561207056045532, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0318.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0318.json
new file mode 100644
index 0000000000000000000000000000000000000000..a52b56aa5c9df1ee8381934d0f9a784fe9115177
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0318.json
@@ -0,0 +1 @@
+{"frame_index": 318, "time_norm": 0.9408284023668639, "door_angle": 0.39404118061065674, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2787812650203705, "right_arm_pose_y": -0.4635128378868103, "right_arm_pose_z": 1.085415244102478, "right_arm_pose_qx": -0.5986600518226624, "right_arm_pose_qy": 0.5336231589317322, "right_arm_pose_qz": 0.5730003118515015, "right_arm_pose_qw": 0.16888822615146637, "left_arm_pose_x": 0.22040458023548126, "left_arm_pose_y": 0.04872869700193405, "left_arm_pose_z": 1.3545745611190796, "left_arm_pose_qx": 0.16467832028865814, "left_arm_pose_qy": 0.6880052089691162, "left_arm_pose_qz": 0.6876636743545532, "left_arm_pose_qw": 0.16324381530284882, "tray_height": 1.3561207056045532, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8573066858748756, "pregrasp_distance": 0.03996546259771061, "pregrasp_position_error": 0.03996546259771061, "pregrasp_orientation_error_deg": 9.310773113004885, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3561207056045532, "p_ext_final_height": 1.3561207056045532, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9809523809523809, "three_view_whole_tray_visibility": 0.638611437524481, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9959292902850067, "front_grasp_visibility": 0.8666666666666667, "front_tray_visibility": 0.5912162162162162, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 78.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 175.0, "overhead_grasp_visibility": 0.8444444444444444, "overhead_tray_visibility": 0.75, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 76.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 222.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.8235294117647058, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 204.0, "over_shoulder_left_tray_visible_count": 168.0, "over_shoulder_right_grasp_visibility": 0.2777777777777778, "over_shoulder_right_tray_visibility": 0.7446808510638298, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 25.0, "over_shoulder_right_tray_projected_count": 141.0, "over_shoulder_right_tray_visible_count": 105.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0319.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0319.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..72297f0e5724cfa1760c4f969968114bf821ba2a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0319.debug.json
@@ -0,0 +1 @@
+{"frame_index": 319, "state": {"door_angle": 0.39395129680633545, "tray_height": 1.3563024997711182, "tray_grasped_left": true, "left_arm_pose": [0.22756242752075195, 0.0629606768488884, 1.3547720909118652, 0.1645866334438324, 0.6880369782447815, 0.6876494288444519, 0.16326230764389038], "right_arm_pose": [0.27878767251968384, -0.46353620290756226, 1.0854047536849976, -0.5986794829368591, 0.5336319208145142, 0.5729831457138062, 0.16884979605674744], "left_arm_joint_positions": [-0.040380001068115234, -0.5161073207855225, -0.31082773208618164, -2.387478828430176, 1.4855000972747803, 1.843963861465454, 0.526992678642273], "right_arm_joint_positions": [1.7520089149475098, 0.3886251449584961, -1.0863962173461914, -2.1245501041412354, -0.9723626375198364, 1.834261178970337, -2.897292375564575], "pregrasp_goal_pose": [0.22272269013369908, 0.02363212979619464, 1.349439159162935, 0.19270066904448438, 0.7352149462225345, 0.6281430017498597, 0.1666187395027334], "pregrasp_position_error": 0.03998246906195678, "pregrasp_orientation_error_deg": 9.28972135801431}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.8555555555555555, "grasp_projected_count": 90, "grasp_visible_count": 77, "tray_visibility": 0.581081081081081, "tray_projected_count": 296, "tray_visible_count": 172}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.7364864864864865, "tray_projected_count": 296, "tray_visible_count": 218}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9555555555555556, "grasp_projected_count": 90, "grasp_visible_count": 86, "tray_visibility": 0.681592039800995, "tray_projected_count": 201, "tray_visible_count": 137}, "over_shoulder_right": {"grasp_visibility": 0.2777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 25, "tray_visibility": 0.6818181818181818, "tray_projected_count": 132, "tray_visible_count": 90}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3563024997711182, "final_height": 1.3563024997711182, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0319.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0319.json
new file mode 100644
index 0000000000000000000000000000000000000000..c529db8bb9a179338b57ac51aedc419a2765eaeb
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0319.json
@@ -0,0 +1 @@
+{"frame_index": 319, "time_norm": 0.9437869822485208, "door_angle": 0.39395129680633545, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27878767251968384, "right_arm_pose_y": -0.46353620290756226, "right_arm_pose_z": 1.0854047536849976, "right_arm_pose_qx": -0.5986794829368591, "right_arm_pose_qy": 0.5336319208145142, "right_arm_pose_qz": 0.5729831457138062, "right_arm_pose_qw": 0.16884979605674744, "left_arm_pose_x": 0.22756242752075195, "left_arm_pose_y": 0.0629606768488884, "left_arm_pose_z": 1.3547720909118652, "left_arm_pose_qx": 0.1645866334438324, "left_arm_pose_qy": 0.6880369782447815, "left_arm_pose_qz": 0.6876494288444519, "left_arm_pose_qw": 0.16326230764389038, "tray_height": 1.3563024997711182, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8572459631289865, "pregrasp_distance": 0.03998246906195678, "pregrasp_position_error": 0.03998246906195678, "pregrasp_orientation_error_deg": 9.28972135801431, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3563024997711182, "p_ext_final_height": 1.3563024997711182, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9793650793650793, "three_view_whole_tray_visibility": 0.6296513905209558, "full_view_visibility": 0.9999190454416792, "full_view_whole_tray_visibility": 0.9901128098683214, "front_grasp_visibility": 0.8555555555555555, "front_tray_visibility": 0.581081081081081, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 77.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 172.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.7364864864864865, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 218.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9555555555555556, "over_shoulder_left_tray_visibility": 0.681592039800995, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 86.0, "over_shoulder_left_tray_projected_count": 201.0, "over_shoulder_left_tray_visible_count": 137.0, "over_shoulder_right_grasp_visibility": 0.2777777777777778, "over_shoulder_right_tray_visibility": 0.6818181818181818, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 25.0, "over_shoulder_right_tray_projected_count": 132.0, "over_shoulder_right_tray_visible_count": 90.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0320.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0320.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..92b73827c63fdd4e05dbac95a48d476fababc7d1
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0320.debug.json
@@ -0,0 +1 @@
+{"frame_index": 320, "state": {"door_angle": 0.3940380811691284, "tray_height": 1.3562917709350586, "tray_grasped_left": true, "left_arm_pose": [0.2346210777759552, 0.07686112821102142, 1.3548959493637085, 0.16462065279483795, 0.6880730390548706, 0.6876011490821838, 0.1632794886827469], "right_arm_pose": [0.2787845730781555, -0.4635505974292755, 1.0854136943817139, -0.5986739993095398, 0.5336238741874695, 0.5729942917823792, 0.16885671019554138], "left_arm_joint_positions": [-0.02689075469970703, -0.5040614604949951, -0.28632330894470215, -2.3808741569519043, 1.5092577934265137, 1.873171329498291, 0.5222903490066528], "right_arm_joint_positions": [1.7519755363464355, 0.38866472244262695, -1.0863685607910156, -2.1245391368865967, -0.9723659753799438, 1.8342857360839844, -2.8973076343536377], "pregrasp_goal_pose": [0.2297741944381604, 0.03749498464639062, 1.3498111932541235, 0.193056908428927, 0.7361005395881078, 0.6270702491765375, 0.1663367918520628], "pregrasp_position_error": 0.03998800172470836, "pregrasp_orientation_error_deg": 9.444209380246578}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "overhead", "camera_values": {"front": {"grasp_visibility": 0.9111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 82, "tray_visibility": 0.5168918918918919, "tray_projected_count": 296, "tray_visible_count": 153}, "overhead": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.7128378378378378, "tray_projected_count": 296, "tray_visible_count": 211}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.7055837563451777, "tray_projected_count": 197, "tray_visible_count": 139}, "over_shoulder_right": {"grasp_visibility": 0.2777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 25, "tray_visibility": 0.5, "tray_projected_count": 114, "tray_visible_count": 57}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3562917709350586, "final_height": 1.3562917709350586, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0320.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0320.json
new file mode 100644
index 0000000000000000000000000000000000000000..86f67090515a3b46c8ff27396bf116d6b6eabf1d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0320.json
@@ -0,0 +1 @@
+{"frame_index": 320, "time_norm": 0.9467455621301775, "door_angle": 0.3940380811691284, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2787845730781555, "right_arm_pose_y": -0.4635505974292755, "right_arm_pose_z": 1.0854136943817139, "right_arm_pose_qx": -0.5986739993095398, "right_arm_pose_qy": 0.5336238741874695, "right_arm_pose_qz": 0.5729942917823792, "right_arm_pose_qw": 0.16885671019554138, "left_arm_pose_x": 0.2346210777759552, "left_arm_pose_y": 0.07686112821102142, "left_arm_pose_z": 1.3548959493637085, "left_arm_pose_qx": 0.16462065279483795, "left_arm_pose_qy": 0.6880730390548706, "left_arm_pose_qz": 0.6876011490821838, "left_arm_pose_qw": 0.1632794886827469, "tray_height": 1.3562917709350586, "tray_grasped_left": 1.0, "pregrasp_progress": 0.857226217644862, "pregrasp_distance": 0.03998800172470836, "pregrasp_position_error": 0.03998800172470836, "pregrasp_orientation_error_deg": 9.444209380246578, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3562917709350586, "p_ext_final_height": 1.3562917709350586, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9873015873015873, "three_view_whole_tray_visibility": 0.5729044261652957, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9819455585556567, "front_grasp_visibility": 0.9111111111111111, "front_tray_visibility": 0.5168918918918919, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 82.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 153.0, "overhead_grasp_visibility": 0.8666666666666667, "overhead_tray_visibility": 0.7128378378378378, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 78.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 211.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8571428571428571, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 72.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.7055837563451777, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 197.0, "over_shoulder_left_tray_visible_count": 139.0, "over_shoulder_right_grasp_visibility": 0.2777777777777778, "over_shoulder_right_tray_visibility": 0.5, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 25.0, "over_shoulder_right_tray_projected_count": 114.0, "over_shoulder_right_tray_visible_count": 57.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0321.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0321.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c09ecd569a1e3548641ae1b21feb566f9120f7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0321.debug.json
@@ -0,0 +1 @@
+{"frame_index": 321, "state": {"door_angle": 0.39352405071258545, "tray_height": 1.3564488887786865, "tray_grasped_left": true, "left_arm_pose": [0.24087662994861603, 0.08922085165977478, 1.3549412488937378, 0.16468380391597748, 0.6880543828010559, 0.6876194477081299, 0.16321751475334167], "right_arm_pose": [0.27877724170684814, -0.46356603503227234, 1.085465908050537, -0.5986648797988892, 0.5336540341377258, 0.5729910135269165, 0.1688046008348465], "left_arm_joint_positions": [-0.014747381210327148, -0.4921908378601074, -0.2653226852416992, -2.3734397888183594, 1.5303304195404053, 1.8983538150787354, 0.5178350210189819], "right_arm_joint_positions": [1.7519891262054443, 0.388671875, -1.086367130279541, -2.124309778213501, -0.9723528623580933, 1.8342905044555664, -2.8973066806793213], "pregrasp_goal_pose": [0.2360578355158371, 0.04994599762530581, 1.3495408693271207, 0.1924087126004613, 0.7353204243182933, 0.6280714630621614, 0.16676030157910554], "pregrasp_position_error": 0.03993618708236629, "pregrasp_orientation_error_deg": 9.284641706497114}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.5337837837837838, "tray_projected_count": 296, "tray_visible_count": 158}, "overhead": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.7027027027027027, "tray_projected_count": 296, "tray_visible_count": 208}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.7068062827225131, "tray_projected_count": 191, "tray_visible_count": 135}, "over_shoulder_right": {"grasp_visibility": 0.2111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 19, "tray_visibility": 0.6, "tray_projected_count": 110, "tray_visible_count": 66}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3564488887786865, "final_height": 1.3564488887786865, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0321.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0321.json
new file mode 100644
index 0000000000000000000000000000000000000000..e08ea5a639dd1a694a70ae94a3bcbc7be7c3e00f
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0321.json
@@ -0,0 +1 @@
+{"frame_index": 321, "time_norm": 0.9497041420118343, "door_angle": 0.39352405071258545, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27877724170684814, "right_arm_pose_y": -0.46356603503227234, "right_arm_pose_z": 1.085465908050537, "right_arm_pose_qx": -0.5986648797988892, "right_arm_pose_qy": 0.5336540341377258, "right_arm_pose_qz": 0.5729910135269165, "right_arm_pose_qw": 0.1688046008348465, "left_arm_pose_x": 0.24087662994861603, "left_arm_pose_y": 0.08922085165977478, "left_arm_pose_z": 1.3549412488937378, "left_arm_pose_qx": 0.16468380391597748, "left_arm_pose_qy": 0.6880543828010559, "left_arm_pose_qz": 0.6876194477081299, "left_arm_pose_qw": 0.16321751475334167, "tray_height": 1.3564488887786865, "tray_grasped_left": 1.0, "pregrasp_progress": 0.8574112114081172, "pregrasp_distance": 0.03993618708236629, "pregrasp_position_error": 0.03993618708236629, "pregrasp_orientation_error_deg": 9.284641706497114, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3564488887786865, "p_ext_final_height": 1.3564488887786865, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9761904761904762, "three_view_whole_tray_visibility": 0.5878378378378378, "full_view_visibility": 0.9999744921288131, "full_view_whole_tray_visibility": 0.9856294386929735, "front_grasp_visibility": 0.8666666666666667, "front_tray_visibility": 0.5337837837837838, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 78.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 158.0, "overhead_grasp_visibility": 0.8777777777777778, "overhead_tray_visibility": 0.7027027027027027, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 79.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 208.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9888888888888889, "over_shoulder_left_tray_visibility": 0.7068062827225131, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 89.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 135.0, "over_shoulder_right_grasp_visibility": 0.2111111111111111, "over_shoulder_right_tray_visibility": 0.6, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 19.0, "over_shoulder_right_tray_projected_count": 110.0, "over_shoulder_right_tray_visible_count": 66.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0322.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0322.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c52e6b1b2c744b267df03e0be626e075df696d
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0322.debug.json
@@ -0,0 +1 @@
+{"frame_index": 322, "state": {"door_angle": 0.3938027620315552, "tray_height": 1.3566005229949951, "tray_grasped_left": true, "left_arm_pose": [0.24582751095294952, 0.09920786321163177, 1.3550373315811157, 0.16463258862495422, 0.6880524754524231, 0.6876323819160461, 0.1632225215435028], "right_arm_pose": [0.2787911295890808, -0.46352410316467285, 1.085400938987732, -0.5986608862876892, 0.5336596369743347, 0.5729755759239197, 0.16885365545749664], "left_arm_joint_positions": [-0.005042552947998047, -0.48177576065063477, -0.24864459037780762, -2.366550922393799, 1.547048568725586, 1.9183785915374756, 0.5140818357467651], "right_arm_joint_positions": [1.7519810199737549, 0.3886575698852539, -1.0863721370697021, -2.124612808227539, -0.9722822904586792, 1.8342630863189697, -2.8972995281219482], "pregrasp_goal_pose": [0.24103106961806617, 0.05986238018767387, 1.349824563065905, 0.19273954926654904, 0.7354571283625946, 0.6278570372479226, 0.16658277001969424], "pregrasp_position_error": 0.039978066980041825, "pregrasp_orientation_error_deg": 9.327247874837306}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 76, "tray_visibility": 0.6047297297297297, "tray_projected_count": 296, "tray_visible_count": 179}, "overhead": {"grasp_visibility": 0.8111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 73, "tray_visibility": 0.6621621621621622, "tray_projected_count": 296, "tray_visible_count": 196}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 1.0, "grasp_projected_count": 90, "grasp_visible_count": 90, "tray_visibility": 0.743455497382199, "tray_projected_count": 191, "tray_visible_count": 142}, "over_shoulder_right": {"grasp_visibility": 0.17777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 16, "tray_visibility": 0.550561797752809, "tray_projected_count": 89, "tray_visible_count": 49}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.3566005229949951, "final_height": 1.3566005229949951, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0322.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0322.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc964ce3877b66c34ef8f33dafc204d87b6531b2
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0322.json
@@ -0,0 +1 @@
+{"frame_index": 322, "time_norm": 0.9526627218934911, "door_angle": 0.3938027620315552, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.2787911295890808, "right_arm_pose_y": -0.46352410316467285, "right_arm_pose_z": 1.085400938987732, "right_arm_pose_qx": -0.5986608862876892, "right_arm_pose_qy": 0.5336596369743347, "right_arm_pose_qz": 0.5729755759239197, "right_arm_pose_qw": 0.16885365545749664, "left_arm_pose_x": 0.24582751095294952, "left_arm_pose_y": 0.09920786321163177, "left_arm_pose_z": 1.3550373315811157, "left_arm_pose_qx": 0.16463258862495422, "left_arm_pose_qy": 0.6880524754524231, "left_arm_pose_qz": 0.6876323819160461, "left_arm_pose_qw": 0.1632225215435028, "tray_height": 1.3566005229949951, "tray_grasped_left": 1.0, "pregrasp_progress": 0.857261689057575, "pregrasp_distance": 0.039978066980041825, "pregrasp_position_error": 0.039978066980041825, "pregrasp_orientation_error_deg": 9.327247874837306, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.3566005229949951, "p_ext_final_height": 1.3566005229949951, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9722222222222222, "three_view_whole_tray_visibility": 0.6505581668625147, "full_view_visibility": 1.0, "full_view_whole_tray_visibility": 0.9863881899064517, "front_grasp_visibility": 0.8444444444444444, "front_tray_visibility": 0.6047297297297297, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 76.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 179.0, "overhead_grasp_visibility": 0.8111111111111111, "overhead_tray_visibility": 0.6621621621621622, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 73.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 196.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 1.0, "over_shoulder_left_tray_visibility": 0.743455497382199, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 90.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 142.0, "over_shoulder_right_grasp_visibility": 0.17777777777777778, "over_shoulder_right_tray_visibility": 0.550561797752809, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 16.0, "over_shoulder_right_tray_projected_count": 89.0, "over_shoulder_right_tray_visible_count": 49.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0323.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0323.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..b47631068e4cad8386f270b294d92aedb30309e4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0323.debug.json
@@ -0,0 +1 @@
+{"frame_index": 323, "state": {"door_angle": 0.3935734033584595, "tray_height": 1.356560468673706, "tray_grasped_left": true, "left_arm_pose": [0.24946671724319458, 0.1064944639801979, 1.355216145515442, 0.16462384164333344, 0.688011646270752, 0.6876623630523682, 0.1632772833108902], "right_arm_pose": [0.27877384424209595, -0.46352726221084595, 1.0854541063308716, -0.5986508727073669, 0.5336477160453796, 0.5729999542236328, 0.16884389519691467], "left_arm_joint_positions": [0.0020232200622558594, -0.4738743305206299, -0.23676276206970215, -2.3605704307556152, 1.5591392517089844, 1.9327337741851807, 0.5113340616226196], "right_arm_joint_positions": [1.751983642578125, 0.3886580467224121, -1.0864408016204834, -2.124549627304077, -0.9723213911056519, 1.834240436553955, -2.897291660308838], "pregrasp_goal_pose": [0.2446324423819303, 0.06715884235795952, 1.349738135294371, 0.19281582016881574, 0.7352518816410963, 0.6280775718490655, 0.1665691861540907], "pregrasp_position_error": 0.04000837334639235, "pregrasp_orientation_error_deg": 9.303275706394645}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8777777777777778, "grasp_projected_count": 90, "grasp_visible_count": 79, "tray_visibility": 0.5608108108108109, "tray_projected_count": 296, "tray_visible_count": 166}, "overhead": {"grasp_visibility": 0.7888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 71, "tray_visibility": 0.6925675675675675, "tray_projected_count": 296, "tray_visible_count": 205}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8214285714285714, "grasp_projected_count": 84, "grasp_visible_count": 69, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9444444444444444, "grasp_projected_count": 90, "grasp_visible_count": 85, "tray_visibility": 0.7105263157894737, "tray_projected_count": 190, "tray_visible_count": 135}, "over_shoulder_right": {"grasp_visibility": 0.2111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 19, "tray_visibility": 0.5862068965517241, "tray_projected_count": 87, "tray_visible_count": 51}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.356560468673706, "final_height": 1.356560468673706, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0323.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0323.json
new file mode 100644
index 0000000000000000000000000000000000000000..a29aba7e105e90de6b13dc140d8078c64b857933
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0323.json
@@ -0,0 +1 @@
+{"frame_index": 323, "time_norm": 0.9556213017751479, "door_angle": 0.3935734033584595, "right_gripper_open": 1.0, "left_gripper_open": 0.0, "right_arm_pose_x": 0.27877384424209595, "right_arm_pose_y": -0.46352726221084595, "right_arm_pose_z": 1.0854541063308716, "right_arm_pose_qx": -0.5986508727073669, "right_arm_pose_qy": 0.5336477160453796, "right_arm_pose_qz": 0.5729999542236328, "right_arm_pose_qw": 0.16884389519691467, "left_arm_pose_x": 0.24946671724319458, "left_arm_pose_y": 0.1064944639801979, "left_arm_pose_z": 1.355216145515442, "left_arm_pose_qx": 0.16462384164333344, "left_arm_pose_qy": 0.688011646270752, "left_arm_pose_qz": 0.6876623630523682, "left_arm_pose_qw": 0.1632772833108902, "tray_height": 1.356560468673706, "tray_grasped_left": 1.0, "pregrasp_progress": 0.857153467150915, "pregrasp_distance": 0.04000837334639235, "pregrasp_position_error": 0.04000837334639235, "pregrasp_orientation_error_deg": 9.303275706394645, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 0.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.356560468673706, "p_ext_final_height": 1.356560468673706, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 1.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 0.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.9781746031746031, "three_view_whole_tray_visibility": 0.6117312965139052, "full_view_visibility": 0.9997980626864371, "full_view_whole_tray_visibility": 0.9857020292763925, "front_grasp_visibility": 0.8777777777777778, "front_tray_visibility": 0.5608108108108109, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 79.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 166.0, "overhead_grasp_visibility": 0.7888888888888889, "overhead_tray_visibility": 0.6925675675675675, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 71.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 205.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.8214285714285714, "wrist_left_tray_visibility": 0.11594202898550725, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 69.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 16.0, "over_shoulder_left_grasp_visibility": 0.9444444444444444, "over_shoulder_left_tray_visibility": 0.7105263157894737, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 85.0, "over_shoulder_left_tray_projected_count": 190.0, "over_shoulder_left_tray_visible_count": 135.0, "over_shoulder_right_grasp_visibility": 0.2111111111111111, "over_shoulder_right_tray_visibility": 0.5862068965517241, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 19.0, "over_shoulder_right_tray_projected_count": 87.0, "over_shoulder_right_tray_visible_count": 51.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0324.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0324.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c5923fcd0bba0cc60aac11a65b32a8a33319ca5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0324.debug.json
@@ -0,0 +1 @@
+{"frame_index": 324, "state": {"door_angle": 0.39382946491241455, "tray_height": 1.35662043094635, "tray_grasped_left": true, "left_arm_pose": [0.25168609619140625, 0.11097842454910278, 1.3551859855651855, 0.16469158232212067, 0.6879997849464417, 0.6876667737960815, 0.16324053704738617], "right_arm_pose": [0.27878424525260925, -0.4635166525840759, 1.085392713546753, -0.5986517667770386, 0.5336490869522095, 0.5729892253875732, 0.16887275874614716], "left_arm_joint_positions": [0.006230831146240234, -0.4689211845397949, -0.22960615158081055, -2.3570737838745117, 1.5665230751037598, 1.94150710105896, 0.5096875429153442], "right_arm_joint_positions": [1.7519927024841309, 0.38874220848083496, -1.0864107608795166, -2.124563455581665, -0.972335934638977, 1.8342554569244385, -2.897289991378784], "pregrasp_goal_pose": [0.24683062803751715, 0.07170238545089398, 1.349985160764853, 0.19306011811912685, 0.7356060957677834, 0.62764423910974, 0.16635555828845316], "pregrasp_position_error": 0.03991530279029851, "pregrasp_orientation_error_deg": 9.370807112601284}, "visibility": {"best_grasp_visibility_camera": "over_shoulder_left", "best_whole_tray_visibility_camera": "over_shoulder_left", "camera_values": {"front": {"grasp_visibility": 0.8666666666666667, "grasp_projected_count": 90, "grasp_visible_count": 78, "tray_visibility": 0.5472972972972973, "tray_projected_count": 296, "tray_visible_count": 162}, "overhead": {"grasp_visibility": 0.6888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 62, "tray_visibility": 0.7331081081081081, "tray_projected_count": 296, "tray_visible_count": 217}, "wrist_right": {"grasp_visibility": 0.0, "grasp_projected_count": 0, "grasp_visible_count": 0, "tray_visibility": 0.0, "tray_projected_count": 0, "tray_visible_count": 0}, "wrist_left": {"grasp_visibility": 0.8571428571428571, "grasp_projected_count": 84, "grasp_visible_count": 72, "tray_visibility": 0.11594202898550725, "tray_projected_count": 138, "tray_visible_count": 16}, "over_shoulder_left": {"grasp_visibility": 0.9888888888888889, "grasp_projected_count": 90, "grasp_visible_count": 89, "tray_visibility": 0.7842105263157895, "tray_projected_count": 190, "tray_visible_count": 149}, "over_shoulder_right": {"grasp_visibility": 0.2111111111111111, "grasp_projected_count": 90, "grasp_visible_count": 19, "tray_visibility": 0.47674418604651164, "tray_projected_count": 86, "tray_visible_count": 41}}}, "p_pre": {"tray_grasped_left": true, "source": "grasped", "best_goal_index": -1, "num_goal_poses": 0, "source_strict": false, "source_assisted": false, "bump_applied": false, "base_score": 1.0, "strict_length": 0.0, "assisted_length": 0.0, "assisted_reliability": 1.0, "post_assist_strict_feasible": false, "door_open_delta": 0.0, "door_quality": 0.0, "step_quality_mean": 0.0, "step_quality_min": 0.0, "step_quality_max": 0.0, "alignment_signed_mean": 0.0, "alignment_abs_mean": 0.0, "collision_count": 0, "bad_collision_count": 0, "best_goal_pose": [], "goal_evaluations": []}, "p_ext": {"initial_height": 1.35662043094635, "final_height": 1.35662043094635, "already_grasped_start": true, "already_grasped_end": true, "total_length": 0.0, "num_milestones": 0, "first_failed_milestone": -1, "min_reliability": 0.0, "mean_reliability": 0.0, "approach_score": 0.0, "retreat_score": 0.0, "milestones": [], "score": 1.0}}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0324.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0324.json
new file mode 100644
index 0000000000000000000000000000000000000000..00090839faf7b3409362f909c3c2a3732d5a38a5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0324.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0325.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0325.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4353669d9758a3fed85b231d3714d398f951d81
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0325.debug.json
@@ -0,0 +1 @@
+{"frame_index": 325, "state": {"door_angle": 0.3937877416610718, "tray_height": 1.3504232168197632, "tray_grasped_left": false, "left_arm_pose": [0.2528458833694458, 0.11289334297180176, 1.3543856143951416, 0.16534948348999023, 0.6881182789802551, 0.6875170469284058, 0.16270558536052704], "right_arm_pose": [0.2789939045906067, -0.46350419521331787, 1.0850415229797363, -0.5987889766693115, 0.5333817005157471, 0.5729984045028687, 0.16920031607151031], "left_arm_joint_positions": [0.007972240447998047, -0.4659547805786133, -0.22670650482177734, -2.3564066886901855, 1.5693788528442383, 1.9451651573181152, 0.5091079473495483], "right_arm_joint_positions": [1.7519750595092773, 0.3891019821166992, -1.0860838890075684, -2.1251890659332275, -0.9721988439559937, 1.8343050479888916, -2.89732027053833], "pregrasp_goal_pose": [0.24829076296298702, 0.0741348301384212, 1.3438598520149905, 0.19207961998556924, 0.7369233798390151, 0.6261241447543049, 0.1673855047145127], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0325.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0325.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5042b09d3758c650c0cf6a92d7b89565912096
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0325.json
@@ -0,0 +1 @@
+{"frame_index": 325, "time_norm": 0.9615384615384616, "door_angle": 0.3937877416610718, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2789939045906067, "right_arm_pose_y": -0.46350419521331787, "right_arm_pose_z": 1.0850415229797363, "right_arm_pose_qx": -0.5987889766693115, "right_arm_pose_qy": 0.5333817005157471, "right_arm_pose_qz": 0.5729984045028687, "right_arm_pose_qw": 0.16920031607151031, "left_arm_pose_x": 0.2528458833694458, "left_arm_pose_y": 0.11289334297180176, "left_arm_pose_z": 1.3543856143951416, "left_arm_pose_qx": 0.16534948348999023, "left_arm_pose_qy": 0.6881182789802551, "left_arm_pose_qz": 0.6875170469284058, "left_arm_pose_qw": 0.16270558536052704, "tray_height": 1.3504232168197632, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8556843787905225, "pregrasp_distance": 0.04041983563370919, "pregrasp_position_error": 0.04041983563370919, "pregrasp_orientation_error_deg": 9.512745501060035, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.2291577846534748, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24829076296298702, "p_pre_best_target_pose_y": 0.0741348301384212, "p_pre_best_target_pose_z": 1.3438598520149905, "p_pre_best_target_pose_qx": 0.19207961998556924, "p_pre_best_target_pose_qy": 0.7369233798390151, "p_pre_best_target_pose_qz": 0.6261241447543049, "p_pre_best_target_pose_qw": 0.1673855047145127, "p_ext_initial_height": 1.3504232168197632, "p_ext_final_height": 1.4280692338943481, "p_ext_total_length": 4.41405150683207, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.23642308071548904, "p_ext_retreat_score": 0.08362383503752532, "three_view_visibility": 0.923941798941799, "three_view_whole_tray_visibility": 0.7905895025460243, "full_view_visibility": 0.97183029590437, "full_view_whole_tray_visibility": 0.9893429733930542, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6824324324324325, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 202.0, "overhead_grasp_visibility": 0.16666666666666666, "overhead_tray_visibility": 0.7128378378378378, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 15.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 211.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7261904761904762, "wrist_left_tray_visibility": 0.34057971014492755, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 47.0, "over_shoulder_left_grasp_visibility": 0.4666666666666667, "over_shoulder_left_tray_visibility": 0.6282722513089005, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 42.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 120.0, "over_shoulder_right_grasp_visibility": 0.16666666666666666, "over_shoulder_right_tray_visibility": 0.5232558139534884, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 15.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 45.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0330.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0330.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7529e3865a3e3435f47846310b1841d1ef9a373
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0330.debug.json
@@ -0,0 +1 @@
+{"frame_index": 330, "state": {"door_angle": 0.3935941457748413, "tray_height": 1.3504232168197632, "tray_grasped_left": false, "left_arm_pose": [0.2532010078430176, 0.1137186661362648, 1.3548773527145386, 0.16505169868469238, 0.6880296468734741, 0.6875839829444885, 0.1630994826555252], "right_arm_pose": [0.27887487411499023, -0.4635158181190491, 1.0852323770523071, -0.5987197756767273, 0.5334512591362, 0.5730164051055908, 0.16916440427303314], "left_arm_joint_positions": [0.008805036544799805, -0.4652721881866455, -0.22530341148376465, -2.3551788330078125, 1.5708730220794678, 1.9469974040985107, 0.5086387395858765], "right_arm_joint_positions": [1.7511494159698486, 0.3885781764984131, -1.085181713104248, -2.1247243881225586, -0.9726349115371704, 1.8337364196777344, -2.8973095417022705], "pregrasp_goal_pose": [0.2483133641188489, 0.07418827861984253, 1.3438629688842514, 0.19209715070696873, 0.7369273311805349, 0.6261110648213896, 0.16739691681038876], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0330.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0330.json
new file mode 100644
index 0000000000000000000000000000000000000000..f02eb356ea3ec2bdc4ea891e15defe362dd3d518
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0330.json
@@ -0,0 +1 @@
+{"frame_index": 330, "time_norm": 0.9763313609467456, "door_angle": 0.3935941457748413, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.27887487411499023, "right_arm_pose_y": -0.4635158181190491, "right_arm_pose_z": 1.0852323770523071, "right_arm_pose_qx": -0.5987197756767273, "right_arm_pose_qy": 0.5334512591362, "right_arm_pose_qz": 0.5730164051055908, "right_arm_pose_qw": 0.16916440427303314, "left_arm_pose_x": 0.2532010078430176, "left_arm_pose_y": 0.1137186661362648, "left_arm_pose_z": 1.3548773527145386, "left_arm_pose_qx": 0.16505169868469238, "left_arm_pose_qy": 0.6880296468734741, "left_arm_pose_qz": 0.6875839829444885, "left_arm_pose_qw": 0.1630994826555252, "tray_height": 1.3504232168197632, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8524481795990644, "pregrasp_distance": 0.041326229558644845, "pregrasp_position_error": 0.041326229558644845, "pregrasp_orientation_error_deg": 9.535106760503398, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.23073468654566748, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.2483133641188489, "p_pre_best_target_pose_y": 0.07418827861984253, "p_pre_best_target_pose_z": 1.3438629688842514, "p_pre_best_target_pose_qx": 0.19209715070696873, "p_pre_best_target_pose_qy": 0.7369273311805349, "p_pre_best_target_pose_qz": 0.6261110648213896, "p_pre_best_target_pose_qw": 0.16739691681038876, "p_ext_initial_height": 1.3504232168197632, "p_ext_final_height": 1.551034688949585, "p_ext_total_length": 4.4679616934685065, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.2361953849961297, "p_ext_retreat_score": 0.08114987271373578, "three_view_visibility": 0.9272486772486772, "three_view_whole_tray_visibility": 0.7723266745005876, "full_view_visibility": 0.9745220676290636, "full_view_whole_tray_visibility": 0.9884135670511345, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6858108108108109, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 203.0, "overhead_grasp_visibility": 0.17777777777777778, "overhead_tray_visibility": 0.7128378378378378, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 16.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 211.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7380952380952381, "wrist_left_tray_visibility": 0.2753623188405797, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 62.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 38.0, "over_shoulder_left_grasp_visibility": 0.4888888888888889, "over_shoulder_left_tray_visibility": 0.6282722513089005, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 44.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 120.0, "over_shoulder_right_grasp_visibility": 0.16666666666666666, "over_shoulder_right_tray_visibility": 0.5232558139534884, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 15.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 45.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0331.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0331.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..741d2a8790e6bda713d2849cbed9d6dd8c728933
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0331.debug.json
@@ -0,0 +1 @@
+{"frame_index": 331, "state": {"door_angle": 0.3935664892196655, "tray_height": 1.3504230976104736, "tray_grasped_left": false, "left_arm_pose": [0.25322386622428894, 0.11372672766447067, 1.3547706604003906, 0.16509151458740234, 0.6880373358726501, 0.6875741481781006, 0.16306832432746887], "right_arm_pose": [0.27889180183410645, -0.46349719166755676, 1.085217833518982, -0.5987072587013245, 0.5334394574165344, 0.5730209350585938, 0.16923083364963531], "left_arm_joint_positions": [0.008808374404907227, -0.4651961326599121, -0.2253110408782959, -2.355215549468994, 1.5709342956542969, 1.946997880935669, 0.508499264717102], "right_arm_joint_positions": [1.7506744861602783, 0.3884012699127197, -1.0846328735351562, -2.124575138092041, -0.9728161096572876, 1.8334081172943115, -2.897301197052002], "pregrasp_goal_pose": [0.24831620324351455, 0.07455282023217169, 1.3438605137177069, 0.19248233930810163, 0.7368211387596455, 0.6260290273238848, 0.16772839795136307], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0331.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0331.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2bb732e582ba89711225a3f8f5d339cdc04b2ef
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0331.json
@@ -0,0 +1 @@
+{"frame_index": 331, "time_norm": 0.9792899408284024, "door_angle": 0.3935664892196655, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.27889180183410645, "right_arm_pose_y": -0.46349719166755676, "right_arm_pose_z": 1.085217833518982, "right_arm_pose_qx": -0.5987072587013245, "right_arm_pose_qy": 0.5334394574165344, "right_arm_pose_qz": 0.5730209350585938, "right_arm_pose_qw": 0.16923083364963531, "left_arm_pose_x": 0.25322386622428894, "left_arm_pose_y": 0.11372672766447067, "left_arm_pose_z": 1.3547706604003906, "left_arm_pose_qx": 0.16509151458740234, "left_arm_pose_qy": 0.6880373358726501, "left_arm_pose_qz": 0.6875741481781006, "left_arm_pose_qw": 0.16306832432746887, "tray_height": 1.3504230976104736, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8537562179286184, "pregrasp_distance": 0.04095987646569345, "pregrasp_position_error": 0.04095987646569345, "pregrasp_orientation_error_deg": 9.548751430120728, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.23033925666037103, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24831620324351455, "p_pre_best_target_pose_y": 0.07455282023217169, "p_pre_best_target_pose_z": 1.3438605137177069, "p_pre_best_target_pose_qx": 0.19248233930810163, "p_pre_best_target_pose_qy": 0.7368211387596455, "p_pre_best_target_pose_qz": 0.6260290273238848, "p_pre_best_target_pose_qw": 0.16772839795136307, "p_ext_initial_height": 1.3504230976104736, "p_ext_final_height": 1.5374951362609863, "p_ext_total_length": 4.4694922237739085, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.23621751405807695, "p_ext_retreat_score": 0.08106338829964668, "three_view_visibility": 0.923941798941799, "three_view_whole_tray_visibility": 0.777027027027027, "full_view_visibility": 0.9763374485596708, "full_view_whole_tray_visibility": 0.9901287567270509, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6891891891891891, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 204.0, "overhead_grasp_visibility": 0.2, "overhead_tray_visibility": 0.7466216216216216, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 18.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 221.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7261904761904762, "wrist_left_tray_visibility": 0.2826086956521739, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 39.0, "over_shoulder_left_grasp_visibility": 0.5333333333333333, "over_shoulder_left_tray_visibility": 0.6335078534031413, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 48.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 121.0, "over_shoulder_right_grasp_visibility": 0.16666666666666666, "over_shoulder_right_tray_visibility": 0.5232558139534884, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 15.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 45.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0332.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0332.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..16232992d7d0e0e99cfb22b6021fbf7c3080c5a5
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0332.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0332.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0332.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6b52386f6f0457d525e9c8827197c33f25f7a57
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0332.json
@@ -0,0 +1 @@
+{"frame_index": 332, "time_norm": 0.9822485207100592, "door_angle": 0.3934582471847534, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.27880483865737915, "right_arm_pose_y": -0.46352100372314453, "right_arm_pose_z": 1.0853558778762817, "right_arm_pose_qx": -0.5986672639846802, "right_arm_pose_qy": 0.5334774851799011, "right_arm_pose_qz": 0.5730419754981995, "right_arm_pose_qw": 0.16918149590492249, "left_arm_pose_x": 0.25316348671913147, "left_arm_pose_y": 0.11371488869190216, "left_arm_pose_z": 1.3550604581832886, "left_arm_pose_qx": 0.16486090421676636, "left_arm_pose_qy": 0.6879649758338928, "left_arm_pose_qz": 0.6876448392868042, "left_arm_pose_qw": 0.16330881416797638, "tray_height": 1.3504234552383423, "tray_grasped_left": 0.0, "pregrasp_progress": 0.85279762956243, "pregrasp_distance": 0.04122835376891091, "pregrasp_position_error": 0.04122835376891091, "pregrasp_orientation_error_deg": 9.558092484561135, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.23086426333014337, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24824627324375387, "p_pre_best_target_pose_y": 0.07434157495767107, "p_pre_best_target_pose_z": 1.3438649085443541, "p_pre_best_target_pose_qx": 0.19230374991780427, "p_pre_best_target_pose_qy": 0.7368681246210353, "p_pre_best_target_pose_qz": 0.6260768924580701, "p_pre_best_target_pose_qw": 0.16754808090537826, "p_ext_initial_height": 1.3504234552383423, "p_ext_final_height": 1.4370633363723755, "p_ext_total_length": 4.476816652807631, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.23615854368881695, "p_ext_retreat_score": 0.08077726059512827, "three_view_visibility": 0.923941798941799, "three_view_whole_tray_visibility": 0.7721797884841363, "full_view_visibility": 0.9739524136129074, "full_view_whole_tray_visibility": 0.9885424908515371, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6824324324324325, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 202.0, "overhead_grasp_visibility": 0.18888888888888888, "overhead_tray_visibility": 0.722972972972973, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 17.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 214.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7261904761904762, "wrist_left_tray_visibility": 0.2826086956521739, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 39.0, "over_shoulder_left_grasp_visibility": 0.5, "over_shoulder_left_tray_visibility": 0.6282722513089005, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 45.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 120.0, "over_shoulder_right_grasp_visibility": 0.15555555555555556, "over_shoulder_right_tray_visibility": 0.5116279069767442, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 14.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 44.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0333.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0333.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0ca326b0d2d298c09bb8f0def15b06e01ad432
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0333.debug.json
@@ -0,0 +1 @@
+{"frame_index": 333, "state": {"door_angle": 0.3936554193496704, "tray_height": 1.3504230976104736, "tray_grasped_left": false, "left_arm_pose": [0.2532104551792145, 0.11370816826820374, 1.354836106300354, 0.16500797867774963, 0.6880189180374146, 0.6875894665718079, 0.1631660759449005], "right_arm_pose": [0.278842955827713, -0.4635266363620758, 1.0852850675582886, -0.598687469959259, 0.5334335565567017, 0.5730447769165039, 0.16923870146274567], "left_arm_joint_positions": [0.008818626403808594, -0.46526622772216797, -0.22531914710998535, -2.355292320251465, 1.5710010528564453, 1.9470000267028809, 0.508341908454895], "right_arm_joint_positions": [1.7502574920654297, 0.38820385932922363, -1.084174394607544, -2.1244750022888184, -0.9730058908462524, 1.8331468105316162, -2.897296667098999], "pregrasp_goal_pose": [0.24831275435511024, 0.07432874217254552, 1.3438590843131992, 0.19221995861470126, 0.736884290416548, 0.6260954350679355, 0.16750383946213146], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0333.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0333.json
new file mode 100644
index 0000000000000000000000000000000000000000..57ea2b08c6ca96269c4a9c23389afbf069dfabd7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0333.json
@@ -0,0 +1 @@
+{"frame_index": 333, "time_norm": 0.985207100591716, "door_angle": 0.3936554193496704, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.278842955827713, "right_arm_pose_y": -0.4635266363620758, "right_arm_pose_z": 1.0852850675582886, "right_arm_pose_qx": -0.598687469959259, "right_arm_pose_qy": 0.5334335565567017, "right_arm_pose_qz": 0.5730447769165039, "right_arm_pose_qw": 0.16923870146274567, "left_arm_pose_x": 0.2532104551792145, "left_arm_pose_y": 0.11370816826820374, "left_arm_pose_z": 1.354836106300354, "left_arm_pose_qx": 0.16500797867774963, "left_arm_pose_qy": 0.6880189180374146, "left_arm_pose_qz": 0.6875894665718079, "left_arm_pose_qw": 0.1631660759449005, "tray_height": 1.3504230976104736, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8529950280503054, "pregrasp_distance": 0.04117306989638152, "pregrasp_position_error": 0.04117306989638152, "pregrasp_orientation_error_deg": 9.54118553796055, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.2307153759900409, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24831275435511024, "p_pre_best_target_pose_y": 0.07432874217254552, "p_pre_best_target_pose_z": 1.3438590843131992, "p_pre_best_target_pose_qx": 0.19221995861470126, "p_pre_best_target_pose_qy": 0.736884290416548, "p_pre_best_target_pose_qz": 0.6260954350679355, "p_pre_best_target_pose_qw": 0.16750383946213146, "p_ext_initial_height": 1.3504230976104736, "p_ext_final_height": 1.43454909324646, "p_ext_total_length": 4.476298525787709, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.23617743221931614, "p_ext_retreat_score": 0.08077404398015459, "three_view_visibility": 0.923941798941799, "three_view_whole_tray_visibility": 0.7746034077555817, "full_view_visibility": 0.9743092298647854, "full_view_whole_tray_visibility": 0.9887993271128438, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6858108108108109, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 203.0, "overhead_grasp_visibility": 0.2, "overhead_tray_visibility": 0.7195945945945946, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 18.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 213.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7261904761904762, "wrist_left_tray_visibility": 0.2826086956521739, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 39.0, "over_shoulder_left_grasp_visibility": 0.5, "over_shoulder_left_tray_visibility": 0.6282722513089005, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 45.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 120.0, "over_shoulder_right_grasp_visibility": 0.15555555555555556, "over_shoulder_right_tray_visibility": 0.5232558139534884, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 14.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 45.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0334.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0334.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..14f60fde26d7978017edb453703103fbfb97ae59
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0334.debug.json
@@ -0,0 +1 @@
+{"frame_index": 334, "state": {"door_angle": 0.39363133907318115, "tray_height": 1.3504232168197632, "tray_grasped_left": false, "left_arm_pose": [0.2531980276107788, 0.11370985954999924, 1.354806900024414, 0.16509145498275757, 0.6880460381507874, 0.6875653266906738, 0.16306869685649872], "right_arm_pose": [0.278854101896286, -0.46353837847709656, 1.0852670669555664, -0.5988053679466248, 0.5333536267280579, 0.5730133652687073, 0.1691797822713852], "left_arm_joint_positions": [0.008792400360107422, -0.4653351306915283, -0.2252964973449707, -2.3552370071411133, 1.570868730545044, 1.947000503540039, 0.5086358785629272], "right_arm_joint_positions": [1.7502648830413818, 0.3879055976867676, -1.0840837955474854, -2.1245105266571045, -0.9732810258865356, 1.8333048820495605, -2.8972959518432617], "pregrasp_goal_pose": [0.24821593384902638, 0.0744738779763753, 1.3438642526798523, 0.192482499842044, 0.7368241670841736, 0.6260305820982897, 0.16770910629106633], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0334.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0334.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c0002a21a7014c4a7be9d94825e791b1ce3b6c7
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0334.json
@@ -0,0 +1 @@
+{"frame_index": 334, "time_norm": 0.9881656804733728, "door_angle": 0.39363133907318115, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.278854101896286, "right_arm_pose_y": -0.46353837847709656, "right_arm_pose_z": 1.0852670669555664, "right_arm_pose_qx": -0.5988053679466248, "right_arm_pose_qy": 0.5333536267280579, "right_arm_pose_qz": 0.5730133652687073, "right_arm_pose_qw": 0.1691797822713852, "left_arm_pose_x": 0.2531980276107788, "left_arm_pose_y": 0.11370985954999924, "left_arm_pose_z": 1.354806900024414, "left_arm_pose_qx": 0.16509145498275757, "left_arm_pose_qy": 0.6880460381507874, "left_arm_pose_qz": 0.6875653266906738, "left_arm_pose_qw": 0.16306869685649872, "tray_height": 1.3504232168197632, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8534812964721292, "pregrasp_distance": 0.04103687414026675, "pregrasp_position_error": 0.04103687414026675, "pregrasp_orientation_error_deg": 9.547373658792095, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.2304149534759846, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24821593384902638, "p_pre_best_target_pose_y": 0.0744738779763753, "p_pre_best_target_pose_z": 1.3438642526798523, "p_pre_best_target_pose_qx": 0.192482499842044, "p_pre_best_target_pose_qy": 0.7368241670841736, "p_pre_best_target_pose_qz": 0.6260305820982897, "p_pre_best_target_pose_qw": 0.16770910629106633, "p_ext_initial_height": 1.3504232168197632, "p_ext_final_height": 1.530754804611206, "p_ext_total_length": 4.468184528337326, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.23621081460436175, "p_ext_retreat_score": 0.0811258551321308, "three_view_visibility": 0.923941798941799, "three_view_whole_tray_visibility": 0.769756169212691, "full_view_visibility": 0.9748663640124545, "full_view_whole_tray_visibility": 0.9891266632821736, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6790540540540541, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 201.0, "overhead_grasp_visibility": 0.18888888888888888, "overhead_tray_visibility": 0.7398648648648649, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 17.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 219.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7261904761904762, "wrist_left_tray_visibility": 0.2826086956521739, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 39.0, "over_shoulder_left_grasp_visibility": 0.5111111111111111, "over_shoulder_left_tray_visibility": 0.6282722513089005, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 46.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 120.0, "over_shoulder_right_grasp_visibility": 0.16666666666666666, "over_shoulder_right_tray_visibility": 0.5116279069767442, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 15.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 44.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0335.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0335.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..248cfdeeee1cf4358ca22b75fe2feede5f4a5c4a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0335.debug.json
@@ -0,0 +1 @@
+{"frame_index": 335, "state": {"door_angle": 0.3935447931289673, "tray_height": 1.3504234552383423, "tray_grasped_left": false, "left_arm_pose": [0.2531595528125763, 0.11369586735963821, 1.3551536798477173, 0.16492490470409393, 0.6879940629005432, 0.6876161694526672, 0.1632418930530548], "right_arm_pose": [0.27880769968032837, -0.46352678537368774, 1.0853632688522339, -0.5988968014717102, 0.5333839058876038, 0.5729373097419739, 0.16901801526546478], "left_arm_joint_positions": [0.008786439895629883, -0.46553635597229004, -0.22528314590454102, -2.354813575744629, 1.5708355903625488, 1.9470040798187256, 0.5087631940841675], "right_arm_joint_positions": [1.7502379417419434, 0.3873252868652344, -1.0841703414916992, -2.1245737075805664, -0.9736303091049194, 1.8334307670593262, -2.897306203842163], "pregrasp_goal_pose": [0.24827634589520484, 0.07402965630926255, 1.3438629832027835, 0.19177221323752427, 0.7370084814440114, 0.6261905582166065, 0.16711463523566195], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0335.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0335.json
new file mode 100644
index 0000000000000000000000000000000000000000..bee780c1909966d72b036497d83e598c00fb8d65
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0335.json
@@ -0,0 +1 @@
+{"frame_index": 335, "time_norm": 0.9911242603550295, "door_angle": 0.3935447931289673, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.27880769968032837, "right_arm_pose_y": -0.46352678537368774, "right_arm_pose_z": 1.0853632688522339, "right_arm_pose_qx": -0.5988968014717102, "right_arm_pose_qy": 0.5333839058876038, "right_arm_pose_qz": 0.5729373097419739, "right_arm_pose_qw": 0.16901801526546478, "left_arm_pose_x": 0.2531595528125763, "left_arm_pose_y": 0.11369586735963821, "left_arm_pose_z": 1.3551536798477173, "left_arm_pose_qx": 0.16492490470409393, "left_arm_pose_qy": 0.6879940629005432, "left_arm_pose_qz": 0.6876161694526672, "left_arm_pose_qw": 0.1632418930530548, "tray_height": 1.3504234552383423, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8517209438637635, "pregrasp_distance": 0.04152991499652663, "pregrasp_position_error": 0.04152991499652663, "pregrasp_orientation_error_deg": 9.529223035005, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.23088798266644803, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24827634589520484, "p_pre_best_target_pose_y": 0.07402965630926255, "p_pre_best_target_pose_z": 1.3438629832027835, "p_pre_best_target_pose_qx": 0.19177221323752427, "p_pre_best_target_pose_qy": 0.7370084814440114, "p_pre_best_target_pose_qz": 0.6261905582166065, "p_pre_best_target_pose_qw": 0.16711463523566195, "p_ext_initial_height": 1.3504234552383423, "p_ext_final_height": 1.5546314716339111, "p_ext_total_length": 4.465133805571071, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.2361945198440703, "p_ext_retreat_score": 0.08129837690832828, "three_view_visibility": 0.9272486772486772, "three_view_whole_tray_visibility": 0.7698785742264003, "full_view_visibility": 0.9715581248503059, "full_view_whole_tray_visibility": 0.9879843206296224, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6824324324324325, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 202.0, "overhead_grasp_visibility": 0.16666666666666666, "overhead_tray_visibility": 0.7094594594594594, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 15.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 210.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7380952380952381, "wrist_left_tray_visibility": 0.2753623188405797, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 62.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 38.0, "over_shoulder_left_grasp_visibility": 0.4444444444444444, "over_shoulder_left_tray_visibility": 0.6230366492146597, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 40.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 119.0, "over_shoulder_right_grasp_visibility": 0.15555555555555556, "over_shoulder_right_tray_visibility": 0.5232558139534884, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 14.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 45.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0336.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0336.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..de5bd0824d4e13bc4ccf57b1142be8dac566a3be
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0336.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0336.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0336.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c5c2b8529813df1629015caddc9bea96f05a80
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0336.json
@@ -0,0 +1 @@
+{"frame_index": 336, "time_norm": 0.9940828402366864, "door_angle": 0.3935283422470093, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2788485586643219, "right_arm_pose_y": -0.463531494140625, "right_arm_pose_z": 1.0853298902511597, "right_arm_pose_qx": -0.5989329218864441, "right_arm_pose_qy": 0.5333130955696106, "right_arm_pose_qz": 0.5729538798332214, "right_arm_pose_qw": 0.1690572202205658, "left_arm_pose_x": 0.25323617458343506, "left_arm_pose_y": 0.113734669983387, "left_arm_pose_z": 1.3548780679702759, "left_arm_pose_qx": 0.16509461402893066, "left_arm_pose_qy": 0.6880558729171753, "left_arm_pose_qz": 0.6875578165054321, "left_arm_pose_qw": 0.16305552423000336, "tray_height": 1.3504230976104736, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8530124534481673, "pregrasp_distance": 0.04116818882063388, "pregrasp_position_error": 0.04116818882063388, "pregrasp_orientation_error_deg": 9.537482309980504, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.23028522127161544, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24836574936431774, "p_pre_best_target_pose_y": 0.07436801964553606, "p_pre_best_target_pose_z": 1.3438614636779482, "p_pre_best_target_pose_qx": 0.19230134445561087, "p_pre_best_target_pose_qy": 0.7368670518652364, "p_pre_best_target_pose_qz": 0.6260744529323499, "p_pre_best_target_pose_qw": 0.16756467462284105, "p_ext_initial_height": 1.3504230976104736, "p_ext_final_height": 1.557637333869934, "p_ext_total_length": 4.469970725762623, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.23623974518090168, "p_ext_retreat_score": 0.08104519560517504, "three_view_visibility": 0.923941798941799, "three_view_whole_tray_visibility": 0.7723266745005876, "full_view_visibility": 0.9743092298647854, "full_view_whole_tray_visibility": 0.9889864852200652, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6858108108108109, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 203.0, "overhead_grasp_visibility": 0.2, "overhead_tray_visibility": 0.7162162162162162, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 18.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 212.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7261904761904762, "wrist_left_tray_visibility": 0.2753623188405797, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 38.0, "over_shoulder_left_grasp_visibility": 0.5, "over_shoulder_left_tray_visibility": 0.6335078534031413, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 45.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 121.0, "over_shoulder_right_grasp_visibility": 0.15555555555555556, "over_shoulder_right_tray_visibility": 0.5348837209302325, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 14.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 46.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0337.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0337.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee78e8bc02f74d2e4299425c55c2ac92db7408a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0337.debug.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0337.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0337.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bb006c60932f51bf2c71a9c014437dc3ea203b4
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0337.json
@@ -0,0 +1 @@
+{"frame_index": 337, "time_norm": 0.9970414201183432, "door_angle": 0.3941603899002075, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.27887043356895447, "right_arm_pose_y": -0.4634857177734375, "right_arm_pose_z": 1.0852463245391846, "right_arm_pose_qx": -0.59895920753479, "right_arm_pose_qy": 0.5332965850830078, "right_arm_pose_qz": 0.5729239583015442, "right_arm_pose_qw": 0.1691180318593979, "left_arm_pose_x": 0.25328317284584045, "left_arm_pose_y": 0.11375845223665237, "left_arm_pose_z": 1.3546351194381714, "left_arm_pose_qx": 0.16520488262176514, "left_arm_pose_qy": 0.6880750060081482, "left_arm_pose_qz": 0.6875409483909607, "left_arm_pose_qw": 0.16293448209762573, "tray_height": 1.3504234552383423, "tray_grasped_left": 0.0, "pregrasp_progress": 0.8527067301862011, "pregrasp_distance": 0.041253813915458216, "pregrasp_position_error": 0.041253813915458216, "pregrasp_orientation_error_deg": 9.525249043345836, "p_pre": 1.0, "p_ext": 1.0, "y_pre_raw": 1.0, "y_ext_raw": 1.0, "y_pre": 1.0, "y_ext": 1.0, "p_pre_source_strict": 1.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 1.0, "p_pre_strict_length": 0.23069816801453033, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.24834787978140294, "p_pre_best_target_pose_y": 0.07424279878279581, "p_pre_best_target_pose_z": 1.3438632497279455, "p_pre_best_target_pose_qx": 0.1921490629986018, "p_pre_best_target_pose_qy": 0.7369106583880548, "p_pre_best_target_pose_qz": 0.6261049392186724, "p_pre_best_target_pose_qw": 0.16743364126968477, "p_ext_initial_height": 1.3504234552383423, "p_ext_final_height": 1.5521032810211182, "p_ext_total_length": 4.473722100218746, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 1.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": -1.0, "p_ext_min_reliability": 1.0, "p_ext_mean_reliability": 1.0, "p_ext_approach_score": 0.23618138132220265, "p_ext_retreat_score": 0.08088445569212573, "three_view_visibility": 0.923941798941799, "three_view_whole_tray_visibility": 0.7746034077555817, "full_view_visibility": 0.9735955973610294, "full_view_whole_tray_visibility": 0.9883944835145129, "front_grasp_visibility": 0.7222222222222222, "front_tray_visibility": 0.6858108108108109, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 65.0, "front_tray_projected_count": 296.0, "front_tray_visible_count": 203.0, "overhead_grasp_visibility": 0.17777777777777778, "overhead_tray_visibility": 0.7094594594594594, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 16.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 210.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.7261904761904762, "wrist_left_tray_visibility": 0.2826086956521739, "wrist_left_grasp_projected_count": 84.0, "wrist_left_grasp_visible_count": 61.0, "wrist_left_tray_projected_count": 138.0, "wrist_left_tray_visible_count": 39.0, "over_shoulder_left_grasp_visibility": 0.5, "over_shoulder_left_tray_visibility": 0.6282722513089005, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 45.0, "over_shoulder_left_tray_projected_count": 191.0, "over_shoulder_left_tray_visible_count": 120.0, "over_shoulder_right_grasp_visibility": 0.15555555555555556, "over_shoulder_right_tray_visibility": 0.5232558139534884, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 14.0, "over_shoulder_right_tray_projected_count": 86.0, "over_shoulder_right_tray_visible_count": 45.0}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0338.debug.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0338.debug.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c059b955e3e803cdd46a8a2f05f8eefa5f6dae
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0338.debug.json
@@ -0,0 +1 @@
+{"frame_index": 338, "state": {"door_angle": 0.3936039209365845, "tray_height": 1.3504230976104736, "tray_grasped_left": false, "left_arm_pose": [0.2532421946525574, 0.11373927444219589, 1.3547009229660034, 0.16514481604099274, 0.6880595088005066, 0.6875497102737427, 0.1630236655473709], "right_arm_pose": [0.27891018986701965, -0.4634906053543091, 1.0851706266403198, -0.5990161895751953, 0.5332403182983398, 0.5729087591171265, 0.16914518177509308], "left_arm_joint_positions": [0.008794069290161133, -0.4652090072631836, -0.22529125213623047, -2.355280876159668, 1.5708792209625244, 1.9469826221466064, 0.5085321664810181], "right_arm_joint_positions": [1.750232458114624, 0.38735389709472656, -1.0839574337005615, -2.125023126602173, -0.9737221002578735, 1.8334710597991943, -2.897294044494629], "pregrasp_goal_pose": [0.2482601747833157, 0.0744168548115822, 1.3438628704952966, 0.1924879932601717, 0.7368199716237751, 0.6260317836217992, 0.16771674860406763], "pregrasp_position_error": 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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0338.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0338.json
new file mode 100644
index 0000000000000000000000000000000000000000..49b363641f3fcddb29b9b2a20a110ebcbfe8fb0c
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/frame_rows/frame_0338.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/templates.json b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/templates.json
new file mode 100644
index 0000000000000000000000000000000000000000..17616431e5797b2b76baa8ca7ddcc9527797319a
--- /dev/null
+++ b/artifacts/results/metric_iter30_shardC_ep73_99/.episode73.tmp/templates.json
@@ -0,0 +1,244 @@
+{
+  "template_mode": "per_episode",
+  "template_episode": "episode0",
+  "template_frames": {
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+    "grasp": 234,
+    "right_close": 91,
+    "right_open": 130,
+    "approach": [
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+      187,
+      197,
+      208,
+      218,
+      229,
+      232
+    ],
+    "retreat": [
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+      244,
+      249,
+      254,
+      264,
+      274,
+      284,
+      295,
+      305,
+      310,
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+    ]
+  },
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+  },
+  "template_source_json": "/workspace/VLAdaptorBench_upload/artifacts/results/metric_iter24_ep0_door_contact_geom/templates.json"
+}
\ No newline at end of file
diff --git a/artifacts/results/metric_iter30_shardC_ep73_99/logs/episode73.attempt01.log b/artifacts/results/metric_iter30_shardC_ep73_99/logs/episode73.attempt01.log
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391