{
  "task": "drawer",
  "policy_sha256": "2c17cdbfa478411921fc400d2e5c628d5aae53b3d4ce63da968c0b6eb196d948",
  "job_id": "125475",
  "steps_budget": 2500,
  "seeds": [
    3101,
    3102,
    3103
  ],
  "episodes": [
    {
      "seed": 3101,
      "steps": 2500,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 2,
      "error": null,
      "elapsed_s": 124.6,
      "initial": {
        "step": 0,
        "ee_position": [
          0.5672798156738281,
          0.05542726069688797,
          0.12392184138298035
        ],
        "ee_quaternion": [
          0.8932979702949524,
          0.44938525557518005,
          -0.008008776232600212,
          0.0027129848022013903
        ],
        "joints": [
          -0.026308879256248474,
          0.3758794963359833,
          0.12485036253929138,
          -2.138335704803467,
          -0.09431414306163788,
          2.496490716934204,
          0.019217180088162422
        ],
        "gripper_width": 0.06499997526407242,
        "parts": {
          "drawer_box": [
            0.4255288690328598,
            0.0801265686750412,
            0.02625003457069397,
            -0.5565914511680603,
            0.4361264705657959,
            -0.4361262619495392,
            0.5565908551216125
          ],
          "drawer_container_top": [
            0.4290224462747574,
            -0.10723905265331268,
            0.010500013828277588,
            -0.48095256090164185,
            -0.5183486342430115,
            0.5183476209640503,
            0.4809522032737732
          ],
          "drawer_container_bottom": [
            0.5385089963674545,
            -0.09642306715250015,
            0.010500013828277588,
            -0.44965317845344543,
            -0.5457219481468201,
            0.5457215309143066,
            0.44965270161628723
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.4648851752281189,
          -0.030535805970430374,
          0.2312215268611908
        ],
        "ee_quaternion": [
          0.4421628713607788,
          -0.8760474324226379,
          0.10941559821367264,
          -0.15830650925636292
        ],
        "joints": [
          0.8589327335357666,
          0.19479122757911682,
          -1.0238031148910522,
          -2.1530518531799316,
          -2.811741352081299,
          3.6587910652160645,
          -0.5303357839584351
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "drawer_box": [
            0.03175613284111023,
            -0.15469399094581604,
            0.026249974966049194,
            -0.21653637290000916,
            0.6731359958648682,
            -0.6731359958648682,
            0.21653583645820618
          ],
          "drawer_container_top": [
            0.4707406759262085,
            -0.07802803814411163,
            0.0104999840259552,
            -0.4785945415496826,
            -0.5205258131027222,
            0.5205255150794983,
            0.4785950779914856
          ],
          "drawer_container_bottom": [
            0.6057862043380737,
            -0.09541023522615433,
            0.010500013828277588,
            -0.39673087000846863,
            -0.5853246450424194,
            0.5853241682052612,
            0.39673060178756714
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "drawer_box",
            "drawer_container_bottom"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.5731774955914843,
            "rotation_error_deg": 103.92270554134781
          }
        },
        {
          "pair": [
            "drawer_box",
            "drawer_container_top"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.44224221970248634,
            "rotation_error_deg": 120.85782322954428
          }
        }
      ],
      "phases": [
        {
          "step": 0,
          "phase": "clear"
        },
        {
          "step": 11,
          "phase": "approach"
        },
        {
          "step": 40,
          "phase": "descend"
        },
        {
          "step": 136,
          "phase": "recover_open"
        },
        {
          "step": 150,
          "phase": "clear"
        },
        {
          "step": 161,
          "phase": "approach"
        },
        {
          "step": 175,
          "phase": "descend"
        },
        {
          "step": 213,
          "phase": "close"
        },
        {
          "step": 228,
          "phase": "lift"
        },
        {
          "step": 264,
          "phase": "rotate"
        },
        {
          "step": 368,
          "phase": "stage"
        },
        {
          "step": 387,
          "phase": "mouth"
        },
        {
          "step": 415,
          "phase": "insert"
        },
        {
          "step": 546,
          "phase": "recover_high"
        },
        {
          "step": 623,
          "phase": "recover_down"
        },
        {
          "step": 719,
          "phase": "recover_open"
        },
        {
          "step": 746,
          "phase": "clear"
        },
        {
          "step": 760,
          "phase": "approach"
        },
        {
          "step": 856,
          "phase": "recover_open"
        },
        {
          "step": 892,
          "phase": "clear"
        },
        {
          "step": 894,
          "phase": "approach"
        },
        {
          "step": 990,
          "phase": "recover_open"
        },
        {
          "step": 1026,
          "phase": "clear"
        },
        {
          "step": 1028,
          "phase": "approach"
        },
        {
          "step": 1124,
          "phase": "recover_open"
        },
        {
          "step": 1160,
          "phase": "clear"
        },
        {
          "step": 1162,
          "phase": "approach"
        },
        {
          "step": 1258,
          "phase": "recover_open"
        },
        {
          "step": 1294,
          "phase": "clear"
        },
        {
          "step": 1296,
          "phase": "approach"
        },
        {
          "step": 1392,
          "phase": "recover_open"
        },
        {
          "step": 1428,
          "phase": "clear"
        },
        {
          "step": 1430,
          "phase": "approach"
        },
        {
          "step": 1526,
          "phase": "recover_open"
        },
        {
          "step": 1562,
          "phase": "clear"
        },
        {
          "step": 1564,
          "phase": "approach"
        },
        {
          "step": 1660,
          "phase": "recover_open"
        },
        {
          "step": 1696,
          "phase": "clear"
        },
        {
          "step": 1698,
          "phase": "approach"
        },
        {
          "step": 1794,
          "phase": "recover_open"
        },
        {
          "step": 1830,
          "phase": "clear"
        },
        {
          "step": 1832,
          "phase": "approach"
        },
        {
          "step": 1928,
          "phase": "recover_open"
        },
        {
          "step": 1946,
          "phase": "clear"
        },
        {
          "step": 1948,
          "phase": "approach"
        },
        {
          "step": 2044,
          "phase": "recover_open"
        },
        {
          "step": 2080,
          "phase": "clear"
        },
        {
          "step": 2082,
          "phase": "approach"
        },
        {
          "step": 2178,
          "phase": "recover_open"
        },
        {
          "step": 2214,
          "phase": "clear"
        },
        {
          "step": 2216,
          "phase": "approach"
        },
        {
          "step": 2312,
          "phase": "recover_open"
        },
        {
          "step": 2348,
          "phase": "clear"
        },
        {
          "step": 2350,
          "phase": "approach"
        },
        {
          "step": 2446,
          "phase": "recover_open"
        },
        {
          "step": 2482,
          "phase": "clear"
        },
        {
          "step": 2484,
          "phase": "approach"
        }
      ]
    },
    {
      "seed": 3102,
      "steps": 2500,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 2,
      "error": null,
      "elapsed_s": 148.73,
      "initial": {
        "step": 0,
        "ee_position": [
          0.5672798156738281,
          0.05542726069688797,
          0.12392184138298035
        ],
        "ee_quaternion": [
          0.8932979702949524,
          0.44938525557518005,
          -0.008008776232600212,
          0.0027129848022013903
        ],
        "joints": [
          -0.026308879256248474,
          0.3758794963359833,
          0.12485036253929138,
          -2.138335704803467,
          -0.09431414306163788,
          2.496490716934204,
          0.019217180088162422
        ],
        "gripper_width": 0.06499997526407242,
        "parts": {
          "drawer_box": [
            0.44492723047733307,
            0.07874074578285217,
            0.026250004768371582,
            -0.5460848808288574,
            0.4492121636867523,
            -0.4492119252681732,
            0.5460845232009888
          ],
          "drawer_container_top": [
            0.4249003306031227,
            -0.09898008406162262,
            0.010500013828277588,
            -0.5428224205970764,
            -0.4531489610671997,
            0.4531489610671997,
            0.542822003364563
          ],
          "drawer_container_bottom": [
            0.5536551177501678,
            -0.09960424154996872,
            0.010500013828277588,
            -0.49031007289886475,
            -0.5095059871673584,
            0.5095054507255554,
            0.49030983448028564
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.5442185997962952,
          -0.11099103838205338,
          0.03866884112358093
        ],
        "ee_quaternion": [
          0.661289393901825,
          -0.7499001622200012,
          0.017582235857844353,
          -0.006079878192394972
        ],
        "joints": [
          0.060710608959198,
          0.5448404550552368,
          -0.2307727187871933,
          -2.193803310394287,
          0.2769230902194977,
          2.7480199337005615,
          2.09120774269104
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "drawer_box": [
            0.12244957685470581,
            0.008232900872826576,
            0.026250004768371582,
            -0.5172073841094971,
            0.48217934370040894,
            -0.48217833042144775,
            0.5172074437141418
          ],
          "drawer_container_top": [
            0.47997453808784485,
            -0.16060784459114075,
            0.010510921478271484,
            -0.5170994997024536,
            -0.4820574223995209,
            0.48232272267341614,
            0.5172942280769348
          ],
          "drawer_container_bottom": [
            0.5797458291053772,
            -0.11075571179389954,
            0.010500013828277588,
            -0.5071026086807251,
            -0.4927951991558075,
            0.4927952289581299,
            0.5071022510528564
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "drawer_box",
            "drawer_container_bottom"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.4649776722535816,
            "rotation_error_deg": 174.34565710648295
          }
        },
        {
          "pair": [
            "drawer_box",
            "drawer_container_top"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.388465612711328,
            "rotation_error_deg": 171.97289628291438
          }
        }
      ],
      "phases": [
        {
          "step": 75,
          "phase": "close"
        },
        {
          "step": 90,
          "phase": "lift"
        },
        {
          "step": 127,
          "phase": "rotate"
        },
        {
          "step": 228,
          "phase": "stage"
        },
        {
          "step": 245,
          "phase": "mouth"
        },
        {
          "step": 280,
          "phase": "insert"
        },
        {
          "step": 411,
          "phase": "recover_high"
        },
        {
          "step": 507,
          "phase": "recover_down"
        },
        {
          "step": 603,
          "phase": "recover_open"
        },
        {
          "step": 616,
          "phase": "clear"
        },
        {
          "step": 625,
          "phase": "approach"
        },
        {
          "step": 645,
          "phase": "descend"
        },
        {
          "step": 683,
          "phase": "close"
        },
        {
          "step": 698,
          "phase": "lift"
        },
        {
          "step": 735,
          "phase": "rotate"
        },
        {
          "step": 866,
          "phase": "recover_high"
        },
        {
          "step": 921,
          "phase": "recover_down"
        },
        {
          "step": 938,
          "phase": "recover_open"
        },
        {
          "step": 955,
          "phase": "clear"
        },
        {
          "step": 966,
          "phase": "approach"
        },
        {
          "step": 1022,
          "phase": "descend"
        },
        {
          "step": 1060,
          "phase": "close"
        },
        {
          "step": 1075,
          "phase": "lift"
        },
        {
          "step": 1112,
          "phase": "rotate"
        },
        {
          "step": 1243,
          "phase": "recover_high"
        },
        {
          "step": 1313,
          "phase": "recover_down"
        },
        {
          "step": 1328,
          "phase": "recover_open"
        },
        {
          "step": 1342,
          "phase": "clear"
        },
        {
          "step": 1353,
          "phase": "approach"
        },
        {
          "step": 1449,
          "phase": "recover_open"
        },
        {
          "step": 1461,
          "phase": "clear"
        },
        {
          "step": 1463,
          "phase": "approach"
        },
        {
          "step": 1559,
          "phase": "recover_open"
        },
        {
          "step": 1595,
          "phase": "clear"
        },
        {
          "step": 1597,
          "phase": "approach"
        },
        {
          "step": 1693,
          "phase": "recover_open"
        },
        {
          "step": 1705,
          "phase": "clear"
        },
        {
          "step": 1707,
          "phase": "approach"
        },
        {
          "step": 1803,
          "phase": "recover_open"
        },
        {
          "step": 1815,
          "phase": "clear"
        },
        {
          "step": 1817,
          "phase": "approach"
        },
        {
          "step": 1913,
          "phase": "recover_open"
        },
        {
          "step": 1925,
          "phase": "clear"
        },
        {
          "step": 1927,
          "phase": "approach"
        },
        {
          "step": 2023,
          "phase": "recover_open"
        },
        {
          "step": 2035,
          "phase": "clear"
        },
        {
          "step": 2037,
          "phase": "approach"
        },
        {
          "step": 2133,
          "phase": "recover_open"
        },
        {
          "step": 2145,
          "phase": "clear"
        },
        {
          "step": 2147,
          "phase": "approach"
        },
        {
          "step": 2211,
          "phase": "descend"
        },
        {
          "step": 2250,
          "phase": "close"
        },
        {
          "step": 2265,
          "phase": "lift"
        },
        {
          "step": 2291,
          "phase": "recover_open"
        },
        {
          "step": 2305,
          "phase": "clear"
        },
        {
          "step": 2307,
          "phase": "approach"
        },
        {
          "step": 2403,
          "phase": "recover_open"
        },
        {
          "step": 2415,
          "phase": "clear"
        },
        {
          "step": 2417,
          "phase": "approach"
        },
        {
          "step": 2442,
          "phase": "descend"
        }
      ]
    },
    {
      "seed": 3103,
      "steps": 2500,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 2,
      "error": null,
      "elapsed_s": 146.95,
      "initial": {
        "step": 0,
        "ee_position": [
          0.5672798156738281,
          0.05542726069688797,
          0.12392184138298035
        ],
        "ee_quaternion": [
          0.8932979702949524,
          0.44938525557518005,
          -0.008008776232600212,
          0.0027129848022013903
        ],
        "joints": [
          -0.026308879256248474,
          0.3758794963359833,
          0.12485036253929138,
          -2.138335704803467,
          -0.09431414306163788,
          2.496490716934204,
          0.019217180088162422
        ],
        "gripper_width": 0.06499997526407242,
        "parts": {
          "drawer_box": [
            0.4352701008319855,
            0.0813545286655426,
            0.026250004768371582,
            -0.5449480414390564,
            0.45059096813201904,
            -0.45059072971343994,
            0.54494708776474
          ],
          "drawer_container_top": [
            0.4199790582060814,
            -0.12347380071878433,
            0.010500013828277588,
            -0.43099209666252136,
            -0.560576319694519,
            0.5605766773223877,
            0.4309914708137512
          ],
          "drawer_container_bottom": [
            0.5426399856805801,
            -0.09807328134775162,
            0.010500013828277588,
            -0.49596211314201355,
            -0.5040056705474854,
            0.5040053129196167,
            0.49596211314201355
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.5344589948654175,
          -0.15304061770439148,
          0.02390006184577942
        ],
        "ee_quaternion": [
          0.9992417693138123,
          -0.03771910443902016,
          0.0008729527471587062,
          0.009604199789464474
        ],
        "joints": [
          0.07603741437196732,
          0.6042031049728394,
          -0.31386682391166687,
          -2.1542463302612305,
          0.3859397768974304,
          2.7116267681121826,
          0.3228340446949005
        ],
        "gripper_width": 0.06468919664621353,
        "parts": {
          "drawer_box": [
            0.12244831025600433,
            0.010055724531412125,
            0.026249974966049194,
            -0.5187248587608337,
            0.48054641485214233,
            -0.48054611682891846,
            0.5187243223190308
          ],
          "drawer_container_top": [
            0.41844648867845535,
            -0.23384860157966614,
            0.0104999840259552,
            -0.3926852345466614,
            -0.588046133518219,
            0.5880460739135742,
            0.39268532395362854
          ],
          "drawer_container_bottom": [
            0.534986212849617,
            -0.10132431983947754,
            0.010499149560928345,
            -0.5121248960494995,
            -0.48757943511009216,
            0.4875739812850952,
            0.5121190547943115
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "drawer_box",
            "drawer_container_bottom"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.41980855457324256,
            "rotation_error_deg": 172.81105933678847
          }
        },
        {
          "pair": [
            "drawer_box",
            "drawer_container_top"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.37785103574811435,
            "rotation_error_deg": 161.84437101142504
          }
        }
      ],
      "phases": [
        {
          "step": 0,
          "phase": "clear"
        },
        {
          "step": 12,
          "phase": "approach"
        },
        {
          "step": 36,
          "phase": "descend"
        },
        {
          "step": 75,
          "phase": "close"
        },
        {
          "step": 90,
          "phase": "lift"
        },
        {
          "step": 127,
          "phase": "rotate"
        },
        {
          "step": 229,
          "phase": "stage"
        },
        {
          "step": 246,
          "phase": "mouth"
        },
        {
          "step": 281,
          "phase": "insert"
        },
        {
          "step": 412,
          "phase": "recover_high"
        },
        {
          "step": 508,
          "phase": "recover_down"
        },
        {
          "step": 528,
          "phase": "recover_open"
        },
        {
          "step": 541,
          "phase": "clear"
        },
        {
          "step": 552,
          "phase": "approach"
        },
        {
          "step": 573,
          "phase": "descend"
        },
        {
          "step": 611,
          "phase": "close"
        },
        {
          "step": 626,
          "phase": "lift"
        },
        {
          "step": 727,
          "phase": "recover_high"
        },
        {
          "step": 823,
          "phase": "recover_down"
        },
        {
          "step": 840,
          "phase": "recover_open"
        },
        {
          "step": 859,
          "phase": "clear"
        },
        {
          "step": 921,
          "phase": "approach"
        },
        {
          "step": 978,
          "phase": "descend"
        },
        {
          "step": 1016,
          "phase": "close"
        },
        {
          "step": 1031,
          "phase": "lift"
        },
        {
          "step": 1068,
          "phase": "rotate"
        },
        {
          "step": 1199,
          "phase": "recover_high"
        },
        {
          "step": 1267,
          "phase": "recover_down"
        },
        {
          "step": 1282,
          "phase": "recover_open"
        },
        {
          "step": 1296,
          "phase": "clear"
        },
        {
          "step": 1307,
          "phase": "approach"
        },
        {
          "step": 1403,
          "phase": "recover_open"
        },
        {
          "step": 1415,
          "phase": "clear"
        },
        {
          "step": 1417,
          "phase": "approach"
        },
        {
          "step": 1513,
          "phase": "recover_open"
        },
        {
          "step": 1525,
          "phase": "clear"
        },
        {
          "step": 1527,
          "phase": "approach"
        },
        {
          "step": 1540,
          "phase": "descend"
        },
        {
          "step": 1578,
          "phase": "close"
        },
        {
          "step": 1593,
          "phase": "lift"
        },
        {
          "step": 1641,
          "phase": "rotate"
        },
        {
          "step": 1772,
          "phase": "recover_high"
        },
        {
          "step": 1868,
          "phase": "recover_down"
        },
        {
          "step": 1885,
          "phase": "recover_open"
        },
        {
          "step": 1903,
          "phase": "clear"
        },
        {
          "step": 1929,
          "phase": "approach"
        },
        {
          "step": 2025,
          "phase": "recover_open"
        },
        {
          "step": 2037,
          "phase": "clear"
        },
        {
          "step": 2039,
          "phase": "approach"
        },
        {
          "step": 2135,
          "phase": "recover_open"
        },
        {
          "step": 2147,
          "phase": "clear"
        },
        {
          "step": 2149,
          "phase": "approach"
        },
        {
          "step": 2245,
          "phase": "recover_open"
        },
        {
          "step": 2257,
          "phase": "clear"
        },
        {
          "step": 2259,
          "phase": "approach"
        },
        {
          "step": 2355,
          "phase": "recover_open"
        },
        {
          "step": 2367,
          "phase": "clear"
        },
        {
          "step": 2369,
          "phase": "approach"
        },
        {
          "step": 2436,
          "phase": "descend"
        }
      ]
    }
  ],
  "completed": true,
  "successes": 0
}