{
  "task": "stool",
  "policy_sha256": "e7096c1c3fb14ada37809b3156dcd489a53f7597683d50ca8702547950af8215",
  "job_id": "125474",
  "steps_budget": 2500,
  "seeds": [
    3101,
    3102,
    3103
  ],
  "episodes": [
    {
      "seed": 3101,
      "steps": 2500,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 3,
      "error": null,
      "elapsed_s": 149.96,
      "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": {
          "stool_seat": [
            0.5951011478900909,
            -0.007979899644851685,
            0.0,
            0.5113734006881714,
            -0.4883617162704468,
            -0.48836231231689453,
            0.5113729238510132
          ],
          "stool_leg1": [
            0.48953402042388916,
            -0.10712115466594696,
            0.0022330284118652344,
            0.6802943348884583,
            0.7329388856887817,
            -1.0821145757233808e-08,
            7.702826110289607e-07
          ],
          "stool_leg2": [
            0.4796913117170334,
            0.007711645681411028,
            0.0022329986095428467,
            0.6512346863746643,
            0.7588763236999512,
            7.824733643246873e-07,
            -1.677289787949121e-06
          ],
          "stool_leg3": [
            0.47941525280475616,
            0.10397948324680328,
            0.002233058214187622,
            0.7574321031570435,
            0.6529139280319214,
            -1.4973694533182424e-06,
            7.939487431940506e-07
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.5025180578231812,
          -0.1067764088511467,
          0.14808031916618347
        ],
        "ee_quaternion": [
          0.091034896671772,
          0.995323121547699,
          0.01815088465809822,
          -0.02674080990254879
        ],
        "joints": [
          0.143697127699852,
          0.22099100053310394,
          -0.3551703691482544,
          -2.3042070865631104,
          0.16652615368366241,
          2.4474306106567383,
          -2.511018991470337
        ],
        "gripper_width": 0.06499901413917542,
        "parts": {
          "stool_seat": [
            0.5853477418422699,
            -0.09903964400291443,
            0.0,
            0.4701482951641083,
            -0.5281668901443481,
            -0.5281674265861511,
            0.47014835476875305
          ],
          "stool_leg1": [
            0.48798349499702454,
            -0.10807774215936661,
            0.0022329986095428467,
            0.6725167632102966,
            0.740081787109375,
            -1.434213459106104e-07,
            -5.887279144189961e-07
          ],
          "stool_leg2": [
            0.47851133346557617,
            0.007261313963681459,
            0.002232849597930908,
            0.6476996541023254,
            0.7618957161903381,
            -9.511619282420725e-06,
            -4.232382252666866e-06
          ],
          "stool_leg3": [
            0.4788837432861328,
            0.10408500581979752,
            0.002232491970062256,
            0.7536796927452087,
            0.6572418212890625,
            -4.761073796544224e-06,
            -6.983327239140635e-06
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.07264654420755258,
            "rotation_error_deg": 127.23292901104365
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1287778052049702,
            "rotation_error_deg": 129.57687871840392
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.2135054703601112,
            "rotation_error_deg": 119.32851019452798
          }
        }
      ],
      "phases": [
        {
          "step": 868,
          "phase": "rotate_clear"
        },
        {
          "step": 917,
          "phase": "transit"
        },
        {
          "step": 931,
          "phase": "approach"
        },
        {
          "step": 943,
          "phase": "insert"
        },
        {
          "step": 1084,
          "phase": "recover_lift"
        },
        {
          "step": 1094,
          "phase": "recover_return"
        },
        {
          "step": 1147,
          "phase": "recover_lower"
        },
        {
          "step": 1195,
          "phase": "recover_open"
        },
        {
          "step": 1202,
          "phase": "retreat"
        },
        {
          "step": 1213,
          "phase": "select"
        },
        {
          "step": 1214,
          "phase": "pickup_clear"
        },
        {
          "step": 1215,
          "phase": "pregrasp"
        },
        {
          "step": 1281,
          "phase": "recover_lift"
        },
        {
          "step": 1286,
          "phase": "select"
        },
        {
          "step": 1287,
          "phase": "pickup_clear"
        },
        {
          "step": 1288,
          "phase": "pregrasp"
        },
        {
          "step": 1354,
          "phase": "recover_lift"
        },
        {
          "step": 1359,
          "phase": "select"
        },
        {
          "step": 1360,
          "phase": "pickup_clear"
        },
        {
          "step": 1361,
          "phase": "pregrasp"
        },
        {
          "step": 1427,
          "phase": "recover_lift"
        },
        {
          "step": 1432,
          "phase": "select"
        },
        {
          "step": 1433,
          "phase": "pickup_clear"
        },
        {
          "step": 1434,
          "phase": "pregrasp"
        },
        {
          "step": 1451,
          "phase": "descend"
        },
        {
          "step": 1497,
          "phase": "close"
        },
        {
          "step": 1511,
          "phase": "lift"
        },
        {
          "step": 1532,
          "phase": "rotate_clear"
        },
        {
          "step": 1623,
          "phase": "recover_lift"
        },
        {
          "step": 1629,
          "phase": "recover_return"
        },
        {
          "step": 1665,
          "phase": "recover_lower"
        },
        {
          "step": 1714,
          "phase": "recover_open"
        },
        {
          "step": 1721,
          "phase": "retreat"
        },
        {
          "step": 1732,
          "phase": "select"
        },
        {
          "step": 1733,
          "phase": "pickup_clear"
        },
        {
          "step": 1734,
          "phase": "pregrasp"
        },
        {
          "step": 1753,
          "phase": "descend"
        },
        {
          "step": 1799,
          "phase": "close"
        },
        {
          "step": 1813,
          "phase": "lift"
        },
        {
          "step": 1834,
          "phase": "rotate_clear"
        },
        {
          "step": 1902,
          "phase": "transit"
        },
        {
          "step": 1916,
          "phase": "approach"
        },
        {
          "step": 1928,
          "phase": "insert"
        },
        {
          "step": 2069,
          "phase": "recover_lift"
        },
        {
          "step": 2079,
          "phase": "recover_return"
        },
        {
          "step": 2136,
          "phase": "recover_lower"
        },
        {
          "step": 2184,
          "phase": "recover_open"
        },
        {
          "step": 2191,
          "phase": "retreat"
        },
        {
          "step": 2202,
          "phase": "select"
        },
        {
          "step": 2203,
          "phase": "pickup_clear"
        },
        {
          "step": 2204,
          "phase": "pregrasp"
        },
        {
          "step": 2213,
          "phase": "descend"
        },
        {
          "step": 2259,
          "phase": "close"
        },
        {
          "step": 2273,
          "phase": "lift"
        },
        {
          "step": 2294,
          "phase": "rotate_clear"
        },
        {
          "step": 2385,
          "phase": "recover_lift"
        },
        {
          "step": 2390,
          "phase": "recover_return"
        },
        {
          "step": 2435,
          "phase": "recover_lower"
        },
        {
          "step": 2483,
          "phase": "recover_open"
        },
        {
          "step": 2490,
          "phase": "retreat"
        }
      ]
    },
    {
      "seed": 3102,
      "steps": 2500,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 3,
      "error": null,
      "elapsed_s": 139.6,
      "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": {
          "stool_seat": [
            0.5922825336456299,
            0.005187684670090675,
            2.9802322387695312e-08,
            0.4967518150806427,
            -0.5032280683517456,
            -0.5032272338867188,
            0.49675074219703674
          ],
          "stool_leg1": [
            0.48459592461586,
            -0.108505979180336,
            0.0022329986095428467,
            0.7748869061470032,
            0.6320999264717102,
            -4.5185444719209045e-07,
            5.309590278557152e-07
          ],
          "stool_leg2": [
            0.4881467819213867,
            0.010760816745460033,
            0.0022330284118652344,
            0.6192626357078552,
            0.785183846950531,
            3.0706976872352243e-07,
            2.2464014648448938e-07
          ],
          "stool_leg3": [
            0.4865250736474991,
            0.1087830662727356,
            0.0022329986095428467,
            0.6854403018951416,
            0.7281286716461182,
            1.2085533853678498e-06,
            -1.9971225810877513e-06
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.4900292456150055,
          0.11306743323802948,
          0.1909622848033905
        ],
        "ee_quaternion": [
          0.9089292883872986,
          -0.2997567653656006,
          0.13058051466941833,
          0.25873151421546936
        ],
        "joints": [
          -0.164204940199852,
          0.19397418200969696,
          0.5718962550163269,
          -2.2471132278442383,
          -0.7887580394744873,
          2.074561357498169,
          2.3435089588165283
        ],
        "gripper_width": 0.03381698578596115,
        "parts": {
          "stool_seat": [
            0.6214863061904907,
            0.06098635494709015,
            0.0,
            0.6864715218544006,
            -0.16957686841487885,
            -0.16957686841487885,
            0.6864722371101379
          ],
          "stool_leg1": [
            0.5097244530916214,
            -0.10442245006561279,
            0.002233058214187622,
            0.6847428679466248,
            0.7287846207618713,
            2.018952727667056e-06,
            -1.1311966545690666e-06
          ],
          "stool_leg2": [
            0.4879390150308609,
            0.010626845061779022,
            0.002232760190963745,
            0.6180949211120605,
            0.7861034870147705,
            -1.1078230272687506e-05,
            -3.8028090330044506e-06
          ],
          "stool_leg3": [
            0.4813822954893112,
            0.11392617970705032,
            0.1794615387916565,
            0.7720885872840881,
            0.5425029993057251,
            -0.11119183152914047,
            0.3117789328098297
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1650288231662352,
            "rotation_error_deg": 94.17854534263536
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1232387933721822,
            "rotation_error_deg": 97.17761011462115
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.18017551753830513,
            "rotation_error_deg": 116.81950713504082
          }
        }
      ],
      "phases": [
        {
          "step": 822,
          "phase": "close"
        },
        {
          "step": 836,
          "phase": "lift"
        },
        {
          "step": 857,
          "phase": "rotate_clear"
        },
        {
          "step": 908,
          "phase": "transit"
        },
        {
          "step": 922,
          "phase": "approach"
        },
        {
          "step": 934,
          "phase": "insert"
        },
        {
          "step": 1075,
          "phase": "recover_lift"
        },
        {
          "step": 1084,
          "phase": "recover_return"
        },
        {
          "step": 1169,
          "phase": "recover_lower"
        },
        {
          "step": 1218,
          "phase": "recover_open"
        },
        {
          "step": 1225,
          "phase": "retreat"
        },
        {
          "step": 1237,
          "phase": "select"
        },
        {
          "step": 1238,
          "phase": "pickup_clear"
        },
        {
          "step": 1239,
          "phase": "pregrasp"
        },
        {
          "step": 1305,
          "phase": "recover_lift"
        },
        {
          "step": 1310,
          "phase": "select"
        },
        {
          "step": 1311,
          "phase": "pickup_clear"
        },
        {
          "step": 1312,
          "phase": "pregrasp"
        },
        {
          "step": 1378,
          "phase": "recover_lift"
        },
        {
          "step": 1383,
          "phase": "select"
        },
        {
          "step": 1384,
          "phase": "pickup_clear"
        },
        {
          "step": 1385,
          "phase": "pregrasp"
        },
        {
          "step": 1451,
          "phase": "recover_lift"
        },
        {
          "step": 1456,
          "phase": "select"
        },
        {
          "step": 1457,
          "phase": "pickup_clear"
        },
        {
          "step": 1458,
          "phase": "pregrasp"
        },
        {
          "step": 1524,
          "phase": "recover_lift"
        },
        {
          "step": 1529,
          "phase": "select"
        },
        {
          "step": 1530,
          "phase": "pickup_clear"
        },
        {
          "step": 1531,
          "phase": "pregrasp"
        },
        {
          "step": 1597,
          "phase": "recover_lift"
        },
        {
          "step": 1602,
          "phase": "select"
        },
        {
          "step": 1603,
          "phase": "pickup_clear"
        },
        {
          "step": 1604,
          "phase": "pregrasp"
        },
        {
          "step": 1670,
          "phase": "recover_lift"
        },
        {
          "step": 1675,
          "phase": "select"
        },
        {
          "step": 1676,
          "phase": "pickup_clear"
        },
        {
          "step": 1677,
          "phase": "pregrasp"
        },
        {
          "step": 1739,
          "phase": "descend"
        },
        {
          "step": 1786,
          "phase": "close"
        },
        {
          "step": 1800,
          "phase": "lift"
        },
        {
          "step": 1822,
          "phase": "rotate_clear"
        },
        {
          "step": 1887,
          "phase": "transit"
        },
        {
          "step": 1904,
          "phase": "approach"
        },
        {
          "step": 1916,
          "phase": "insert"
        },
        {
          "step": 2057,
          "phase": "recover_lift"
        },
        {
          "step": 2066,
          "phase": "recover_return"
        },
        {
          "step": 2152,
          "phase": "recover_open"
        },
        {
          "step": 2159,
          "phase": "retreat"
        },
        {
          "step": 2215,
          "phase": "select"
        },
        {
          "step": 2216,
          "phase": "pickup_clear"
        },
        {
          "step": 2217,
          "phase": "pregrasp"
        },
        {
          "step": 2283,
          "phase": "recover_lift"
        },
        {
          "step": 2339,
          "phase": "select"
        },
        {
          "step": 2340,
          "phase": "pickup_clear"
        },
        {
          "step": 2341,
          "phase": "pregrasp"
        },
        {
          "step": 2389,
          "phase": "descend"
        },
        {
          "step": 2435,
          "phase": "close"
        },
        {
          "step": 2449,
          "phase": "lift"
        },
        {
          "step": 2470,
          "phase": "rotate_clear"
        }
      ]
    },
    {
      "seed": 3103,
      "steps": 2500,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 3,
      "error": null,
      "elapsed_s": 142.7,
      "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": {
          "stool_seat": [
            0.5825997292995453,
            0.002357683377340436,
            0.0,
            0.5212100744247437,
            -0.47784945368766785,
            -0.4778493344783783,
            0.5212099552154541
          ],
          "stool_leg1": [
            0.47116631269454956,
            -0.09184533357620239,
            0.0022330284118652344,
            0.6194753050804138,
            0.7850161790847778,
            -6.760521955584409e-07,
            1.4210685321813799e-06
          ],
          "stool_leg2": [
            0.46889492869377136,
            -0.0025492978747934103,
            0.0022330284118652344,
            0.7298350930213928,
            0.683623194694519,
            2.0816706580717437e-07,
            3.196547879724676e-07
          ],
          "stool_leg3": [
            0.48529526591300964,
            0.10149622708559036,
            0.0022330284118652344,
            0.7656341791152954,
            0.6432760953903198,
            1.6496733223902993e-07,
            3.9062496171027306e-07
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.47797316312789917,
          -0.003887096419930458,
          0.15959927439689636
        ],
        "ee_quaternion": [
          0.9997166395187378,
          -0.019887061789631844,
          -0.012993182055652142,
          -0.0015066176420077682
        ],
        "joints": [
          -0.05263480544090271,
          0.08491238951683044,
          0.043397869914770126,
          -2.4508707523345947,
          -0.0006658367929048836,
          2.509749412536621,
          0.8163754940032959
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.6244135499000549,
            0.08519633859395981,
            0.015077292919158936,
            0.6855944991111755,
            -0.381447434425354,
            -0.17299328744411469,
            0.5954253673553467
          ],
          "stool_leg1": [
            0.47199977934360504,
            -0.09141314029693604,
            0.002232491970062256,
            0.6086368560791016,
            0.793448805809021,
            -6.855457286292221e-06,
            -4.8306724238500465e-06
          ],
          "stool_leg2": [
            0.46718618273735046,
            -0.004679691046476364,
            0.0022325515747070312,
            0.7127025127410889,
            0.7014663219451904,
            -7.229399670904968e-06,
            -4.624374923878349e-06
          ],
          "stool_leg3": [
            0.4837176650762558,
            0.10194139927625656,
            0.0022330284118652344,
            0.767755925655365,
            0.6407424211502075,
            -2.8116294288338395e-06,
            1.5370975461337366e-06
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.19082892430682238,
            "rotation_error_deg": 121.37684153540415
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1385598842792242,
            "rotation_error_deg": 114.7931846710819
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.11743787112264893,
            "rotation_error_deg": 111.46428575926318
          }
        }
      ],
      "phases": [
        {
          "step": 1238,
          "phase": "select"
        },
        {
          "step": 1239,
          "phase": "pickup_clear"
        },
        {
          "step": 1240,
          "phase": "pregrasp"
        },
        {
          "step": 1306,
          "phase": "recover_lift"
        },
        {
          "step": 1311,
          "phase": "select"
        },
        {
          "step": 1312,
          "phase": "pickup_clear"
        },
        {
          "step": 1313,
          "phase": "pregrasp"
        },
        {
          "step": 1373,
          "phase": "descend"
        },
        {
          "step": 1419,
          "phase": "close"
        },
        {
          "step": 1433,
          "phase": "lift"
        },
        {
          "step": 1454,
          "phase": "rotate_clear"
        },
        {
          "step": 1545,
          "phase": "recover_lift"
        },
        {
          "step": 1550,
          "phase": "recover_return"
        },
        {
          "step": 1594,
          "phase": "recover_lower"
        },
        {
          "step": 1641,
          "phase": "recover_open"
        },
        {
          "step": 1648,
          "phase": "retreat"
        },
        {
          "step": 1659,
          "phase": "select"
        },
        {
          "step": 1660,
          "phase": "pickup_clear"
        },
        {
          "step": 1661,
          "phase": "pregrasp"
        },
        {
          "step": 1727,
          "phase": "recover_lift"
        },
        {
          "step": 1732,
          "phase": "select"
        },
        {
          "step": 1733,
          "phase": "pickup_clear"
        },
        {
          "step": 1734,
          "phase": "pregrasp"
        },
        {
          "step": 1800,
          "phase": "recover_lift"
        },
        {
          "step": 1805,
          "phase": "select"
        },
        {
          "step": 1806,
          "phase": "pickup_clear"
        },
        {
          "step": 1807,
          "phase": "pregrasp"
        },
        {
          "step": 1873,
          "phase": "recover_lift"
        },
        {
          "step": 1878,
          "phase": "select"
        },
        {
          "step": 1879,
          "phase": "pickup_clear"
        },
        {
          "step": 1880,
          "phase": "pregrasp"
        },
        {
          "step": 1946,
          "phase": "recover_lift"
        },
        {
          "step": 1951,
          "phase": "select"
        },
        {
          "step": 1952,
          "phase": "pickup_clear"
        },
        {
          "step": 1953,
          "phase": "pregrasp"
        },
        {
          "step": 2019,
          "phase": "recover_lift"
        },
        {
          "step": 2024,
          "phase": "select"
        },
        {
          "step": 2025,
          "phase": "pickup_clear"
        },
        {
          "step": 2026,
          "phase": "pregrasp"
        },
        {
          "step": 2092,
          "phase": "recover_lift"
        },
        {
          "step": 2097,
          "phase": "select"
        },
        {
          "step": 2098,
          "phase": "pickup_clear"
        },
        {
          "step": 2099,
          "phase": "pregrasp"
        },
        {
          "step": 2165,
          "phase": "recover_lift"
        },
        {
          "step": 2170,
          "phase": "select"
        },
        {
          "step": 2171,
          "phase": "pickup_clear"
        },
        {
          "step": 2172,
          "phase": "pregrasp"
        },
        {
          "step": 2185,
          "phase": "descend"
        },
        {
          "step": 2231,
          "phase": "close"
        },
        {
          "step": 2245,
          "phase": "lift"
        },
        {
          "step": 2266,
          "phase": "rotate_clear"
        },
        {
          "step": 2357,
          "phase": "recover_lift"
        },
        {
          "step": 2363,
          "phase": "recover_return"
        },
        {
          "step": 2407,
          "phase": "recover_lower"
        },
        {
          "step": 2456,
          "phase": "recover_open"
        },
        {
          "step": 2463,
          "phase": "retreat"
        },
        {
          "step": 2475,
          "phase": "select"
        },
        {
          "step": 2476,
          "phase": "pickup_clear"
        },
        {
          "step": 2477,
          "phase": "pregrasp"
        },
        {
          "step": 2493,
          "phase": "descend"
        }
      ]
    }
  ],
  "completed": true,
  "successes": 0
}