{
  "task": "stool",
  "policy_sha256": "66ca72bfcb4591fb12a5036af8200e143c52fa0db6ab2af977a0c550e92a277e",
  "job_id": "125485",
  "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": 158.63,
      "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": [
            0.4796905070543289,
            0.007714234758168459,
            0.0022329986095428467,
            0.6512399911880493,
            0.7588717341423035,
            -4.0647893939649293e-08,
            8.317047672790068e-08
          ],
          "stool_leg3": [
            0.47941525280475616,
            0.10397948324680328,
            0.002233058214187622,
            0.7574321031570435,
            0.6529139280319214,
            -1.4973694533182424e-06,
            7.939487431940506e-07
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.5794178247451782,
          -0.0344008170068264,
          0.10453435778617859
        ],
        "ee_quaternion": [
          0.7429973483085632,
          0.6692936420440674,
          -0.0009266893030144274,
          -7.179858948802575e-05
        ],
        "joints": [
          0.07468320429325104,
          0.4372944235801697,
          -0.1321260631084442,
          -2.106442928314209,
          0.09616471081972122,
          2.5368010997772217,
          -0.8055161237716675
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.5647853910923004,
            -0.0668831467628479,
            2.9802322387695312e-08,
            -0.05851184204220772,
            -0.7046815156936646,
            -0.7046819925308228,
            -0.05851106718182564
          ],
          "stool_leg1": [
            0.38927701860666275,
            -0.1296878308057785,
            0.0015354156494140625,
            0.6943758726119995,
            -0.13357234001159668,
            0.6361424326896667,
            0.30874478816986084
          ],
          "stool_leg2": [
            0.5795751512050629,
            -0.03532633185386658,
            0.04878714680671692,
            -0.05410553514957428,
            -0.7071303129196167,
            -0.704525887966156,
            -0.026124518364667892
          ],
          "stool_leg3": [
            0.4758850038051605,
            0.10154538601636887,
            0.0022329986095428467,
            0.7128881812095642,
            0.7012776732444763,
            -3.1421885182680853e-07,
            1.9343664803272986e-07
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.15220827651574786,
            "rotation_error_deg": 80.85225638992111
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.012290979456544556,
            "rotation_error_deg": 87.03648952566338
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.16572015801924764,
            "rotation_error_deg": 173.9555125666716
          }
        }
      ],
      "phases": [
        {
          "step": 1162,
          "phase": "select"
        },
        {
          "step": 1163,
          "phase": "pickup_clear"
        },
        {
          "step": 1164,
          "phase": "pregrasp"
        },
        {
          "step": 1230,
          "phase": "recover_lift"
        },
        {
          "step": 1235,
          "phase": "select"
        },
        {
          "step": 1236,
          "phase": "pickup_clear"
        },
        {
          "step": 1237,
          "phase": "pregrasp"
        },
        {
          "step": 1303,
          "phase": "recover_lift"
        },
        {
          "step": 1308,
          "phase": "select"
        },
        {
          "step": 1309,
          "phase": "pickup_clear"
        },
        {
          "step": 1310,
          "phase": "pregrasp"
        },
        {
          "step": 1376,
          "phase": "recover_lift"
        },
        {
          "step": 1381,
          "phase": "select"
        },
        {
          "step": 1382,
          "phase": "pickup_clear"
        },
        {
          "step": 1383,
          "phase": "pregrasp"
        },
        {
          "step": 1402,
          "phase": "descend"
        },
        {
          "step": 1454,
          "phase": "close"
        },
        {
          "step": 1468,
          "phase": "lift"
        },
        {
          "step": 1492,
          "phase": "rotate_clear"
        },
        {
          "step": 1583,
          "phase": "recover_lift"
        },
        {
          "step": 1589,
          "phase": "recover_return"
        },
        {
          "step": 1625,
          "phase": "recover_lower"
        },
        {
          "step": 1680,
          "phase": "recover_open"
        },
        {
          "step": 1687,
          "phase": "retreat"
        },
        {
          "step": 1700,
          "phase": "select"
        },
        {
          "step": 1701,
          "phase": "pickup_clear"
        },
        {
          "step": 1702,
          "phase": "pregrasp"
        },
        {
          "step": 1719,
          "phase": "descend"
        },
        {
          "step": 1771,
          "phase": "close"
        },
        {
          "step": 1785,
          "phase": "lift"
        },
        {
          "step": 1809,
          "phase": "rotate_clear"
        },
        {
          "step": 1885,
          "phase": "transit"
        },
        {
          "step": 1895,
          "phase": "approach"
        },
        {
          "step": 1905,
          "phase": "insert"
        },
        {
          "step": 1931,
          "phase": "release"
        },
        {
          "step": 1937,
          "phase": "retreat"
        },
        {
          "step": 1947,
          "phase": "verify"
        },
        {
          "step": 1970,
          "phase": "select"
        },
        {
          "step": 1971,
          "phase": "screw_clear"
        },
        {
          "step": 1972,
          "phase": "screw_above"
        },
        {
          "step": 2033,
          "phase": "screw_down"
        },
        {
          "step": 2046,
          "phase": "screw_close"
        },
        {
          "step": 2058,
          "phase": "screw_turn"
        },
        {
          "step": 2100,
          "phase": "screw_open"
        },
        {
          "step": 2107,
          "phase": "retreat"
        },
        {
          "step": 2117,
          "phase": "select"
        },
        {
          "step": 2118,
          "phase": "pickup_clear"
        },
        {
          "step": 2119,
          "phase": "pregrasp"
        },
        {
          "step": 2136,
          "phase": "descend"
        },
        {
          "step": 2172,
          "phase": "close"
        },
        {
          "step": 2186,
          "phase": "lift"
        },
        {
          "step": 2204,
          "phase": "rotate_clear"
        },
        {
          "step": 2345,
          "phase": "recover_lift"
        },
        {
          "step": 2351,
          "phase": "recover_return"
        },
        {
          "step": 2437,
          "phase": "recover_open"
        },
        {
          "step": 2444,
          "phase": "retreat"
        },
        {
          "step": 2450,
          "phase": "select"
        },
        {
          "step": 2451,
          "phase": "pickup_clear"
        },
        {
          "step": 2452,
          "phase": "pregrasp"
        },
        {
          "step": 2474,
          "phase": "descend"
        }
      ]
    },
    {
      "seed": 3102,
      "steps": 2500,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 3,
      "error": null,
      "elapsed_s": 152.33,
      "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": [
            0.5922537744045258,
            0.005224202293902636,
            2.9802322387695312e-08,
            0.4963703751564026,
            -0.5036035180091858,
            -0.5036032199859619,
            0.4963703751564026
          ],
          "stool_leg1": [
            0.4845634400844574,
            -0.10853846371173859,
            0.002232968807220459,
            0.7754912376403809,
            0.6313582062721252,
            -1.4506330217045615e-06,
            9.724957408252521e-07
          ],
          "stool_leg2": [
            0.488201767206192,
            0.010769613087177277,
            0.0022329986095428467,
            0.6192474961280823,
            0.7851958870887756,
            -6.081548917791224e-07,
            8.996461815513612e-07
          ],
          "stool_leg3": [
            0.48652197420597076,
            0.10878661274909973,
            0.0022329986095428467,
            0.685223400592804,
            0.7283329367637634,
            -3.9579254007549025e-07,
            8.430936873082828e-07
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.5812944173812866,
          -0.12629418075084686,
          0.06372526288032532
        ],
        "ee_quaternion": [
          0.3090181350708008,
          -0.9509978294372559,
          -0.0016764970496296883,
          0.01039993204176426
        ],
        "joints": [
          0.09670520573854446,
          0.5851964354515076,
          -0.3050958812236786,
          -2.0167763233184814,
          0.28601646423339844,
          2.5409233570098877,
          2.8973000049591064
        ],
        "gripper_width": 0.055485520511865616,
        "parts": {
          "stool_seat": [
            0.6207242012023926,
            -0.1015140488743782,
            5.960464477539063e-08,
            0.025370236486196518,
            -0.706650972366333,
            -0.7066518664360046,
            0.025372128933668137
          ],
          "stool_leg1": [
            0.5848188102245331,
            -0.12589217722415924,
            0.050801366567611694,
            0.6841129660606384,
            0.18582811951637268,
            0.22659066319465637,
            0.6679176092147827
          ],
          "stool_leg2": [
            0.4868294447660446,
            0.011966785416007042,
            0.002232491970062256,
            0.5930292010307312,
            0.8051809668540955,
            -6.95132939654286e-06,
            -4.805704065802274e-06
          ],
          "stool_leg3": [
            0.48629339039325714,
            0.10960841923952103,
            0.0022329092025756836,
            0.6908702850341797,
            0.7229786515235901,
            2.8511676646303385e-06,
            -8.950506526161917e-06
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.0064668736184740495,
            "rotation_error_deg": 3.559540465036732
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1559554363767037,
            "rotation_error_deg": 170.71686538820862
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.2196834099888322,
            "rotation_error_deg": 178.93253442223133
          }
        }
      ],
      "phases": [
        {
          "step": 1686,
          "phase": "pregrasp"
        },
        {
          "step": 1752,
          "phase": "recover_lift"
        },
        {
          "step": 1757,
          "phase": "select"
        },
        {
          "step": 1758,
          "phase": "pickup_clear"
        },
        {
          "step": 1759,
          "phase": "pregrasp"
        },
        {
          "step": 1776,
          "phase": "descend"
        },
        {
          "step": 1812,
          "phase": "close"
        },
        {
          "step": 1826,
          "phase": "lift"
        },
        {
          "step": 1843,
          "phase": "rotate_clear"
        },
        {
          "step": 1916,
          "phase": "transit"
        },
        {
          "step": 1926,
          "phase": "approach"
        },
        {
          "step": 1939,
          "phase": "insert"
        },
        {
          "step": 1969,
          "phase": "release"
        },
        {
          "step": 1975,
          "phase": "retreat"
        },
        {
          "step": 1985,
          "phase": "verify"
        },
        {
          "step": 2008,
          "phase": "select"
        },
        {
          "step": 2009,
          "phase": "screw_clear"
        },
        {
          "step": 2010,
          "phase": "screw_above"
        },
        {
          "step": 2024,
          "phase": "screw_down"
        },
        {
          "step": 2037,
          "phase": "screw_close"
        },
        {
          "step": 2049,
          "phase": "screw_turn"
        },
        {
          "step": 2091,
          "phase": "screw_open"
        },
        {
          "step": 2098,
          "phase": "retreat"
        },
        {
          "step": 2108,
          "phase": "select"
        },
        {
          "step": 2109,
          "phase": "screw_clear"
        },
        {
          "step": 2110,
          "phase": "screw_above"
        },
        {
          "step": 2116,
          "phase": "screw_down"
        },
        {
          "step": 2129,
          "phase": "screw_close"
        },
        {
          "step": 2141,
          "phase": "screw_turn"
        },
        {
          "step": 2183,
          "phase": "screw_open"
        },
        {
          "step": 2190,
          "phase": "retreat"
        },
        {
          "step": 2200,
          "phase": "select"
        },
        {
          "step": 2201,
          "phase": "screw_clear"
        },
        {
          "step": 2202,
          "phase": "screw_above"
        },
        {
          "step": 2208,
          "phase": "screw_down"
        },
        {
          "step": 2221,
          "phase": "screw_close"
        },
        {
          "step": 2233,
          "phase": "screw_turn"
        },
        {
          "step": 2275,
          "phase": "screw_open"
        },
        {
          "step": 2282,
          "phase": "retreat"
        },
        {
          "step": 2292,
          "phase": "select"
        },
        {
          "step": 2293,
          "phase": "screw_clear"
        },
        {
          "step": 2294,
          "phase": "screw_above"
        },
        {
          "step": 2300,
          "phase": "screw_down"
        },
        {
          "step": 2313,
          "phase": "screw_close"
        },
        {
          "step": 2325,
          "phase": "screw_turn"
        },
        {
          "step": 2367,
          "phase": "screw_open"
        },
        {
          "step": 2374,
          "phase": "retreat"
        },
        {
          "step": 2384,
          "phase": "select"
        },
        {
          "step": 2385,
          "phase": "screw_clear"
        },
        {
          "step": 2386,
          "phase": "screw_above"
        },
        {
          "step": 2392,
          "phase": "screw_down"
        },
        {
          "step": 2405,
          "phase": "screw_close"
        },
        {
          "step": 2417,
          "phase": "screw_turn"
        },
        {
          "step": 2459,
          "phase": "screw_open"
        },
        {
          "step": 2466,
          "phase": "retreat"
        },
        {
          "step": 2476,
          "phase": "select"
        },
        {
          "step": 2477,
          "phase": "screw_clear"
        },
        {
          "step": 2478,
          "phase": "screw_above"
        },
        {
          "step": 2484,
          "phase": "screw_down"
        },
        {
          "step": 2497,
          "phase": "screw_close"
        }
      ]
    },
    {
      "seed": 3103,
      "steps": 2500,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 3,
      "error": null,
      "elapsed_s": 147.34,
      "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": [
            0.5825431942939758,
            0.002210037549957633,
            0.0,
            0.5207651257514954,
            -0.4783344566822052,
            -0.4783340394496918,
            0.5207651853561401
          ],
          "stool_leg1": [
            0.47111088037490845,
            -0.0918305441737175,
            0.0022329986095428467,
            0.6193284392356873,
            0.7851319313049316,
            3.369262913111015e-07,
            -1.0302647979187896e-06
          ],
          "stool_leg2": [
            0.4688909947872162,
            -0.002533391583710909,
            0.0022330284118652344,
            0.7293283343315125,
            0.6841637492179871,
            1.8827276448973862e-07,
            4.5697257178289874e-07
          ],
          "stool_leg3": [
            0.48528675734996796,
            0.10159626603126526,
            0.0022329986095428467,
            0.7645307779312134,
            0.6445872187614441,
            -6.959970022535344e-08,
            2.9172315407777205e-07
          ]
        }
      },
      "final": {
        "step": 2500,
        "ee_position": [
          0.4946245551109314,
          0.09932558983564377,
          0.11587485671043396
        ],
        "ee_quaternion": [
          0.9986810088157654,
          -0.051335666328668594,
          -0.000845006201416254,
          -0.00034371743095107377
        ],
        "joints": [
          -0.09257512539625168,
          0.2526579797267914,
          0.2772458493709564,
          -2.3826944828033447,
          -0.13577628135681152,
          2.620610475540161,
          1.1824510097503662
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.58681920170784,
            0.04412491247057915,
            -2.9802322387695312e-08,
            0.5006923675537109,
            -0.4993075132369995,
            -0.49930647015571594,
            0.5006917119026184
          ],
          "stool_leg1": [
            0.58302441239357,
            -0.04441794008016586,
            0.013355165719985962,
            0.6940411329269409,
            -0.13530437648296356,
            0.7048217058181763,
            0.05679742246866226
          ],
          "stool_leg2": [
            0.5529153943061829,
            0.05334676057100296,
            0.04884427785873413,
            0.5139083862304688,
            -0.48816347122192383,
            -0.4657270908355713,
            0.5298044085502625
          ],
          "stool_leg3": [
            0.4836304038763046,
            0.10024257004261017,
            0.002232491970062256,
            0.743621289730072,
            0.6686009764671326,
            -5.791975127067417e-06,
            -6.054674486222211e-06
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.06668050295497406,
            "rotation_error_deg": 104.26180986877038
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.012081798222702562,
            "rotation_error_deg": 85.0332045792614
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.09442186993011016,
            "rotation_error_deg": 116.46559585321144
          }
        }
      ],
      "phases": [
        {
          "step": 1182,
          "phase": "pickup_clear"
        },
        {
          "step": 1183,
          "phase": "pregrasp"
        },
        {
          "step": 1249,
          "phase": "recover_lift"
        },
        {
          "step": 1254,
          "phase": "select"
        },
        {
          "step": 1255,
          "phase": "pickup_clear"
        },
        {
          "step": 1256,
          "phase": "pregrasp"
        },
        {
          "step": 1322,
          "phase": "recover_lift"
        },
        {
          "step": 1327,
          "phase": "select"
        },
        {
          "step": 1328,
          "phase": "pickup_clear"
        },
        {
          "step": 1329,
          "phase": "pregrasp"
        },
        {
          "step": 1395,
          "phase": "recover_lift"
        },
        {
          "step": 1400,
          "phase": "select"
        },
        {
          "step": 1401,
          "phase": "pickup_clear"
        },
        {
          "step": 1402,
          "phase": "pregrasp"
        },
        {
          "step": 1468,
          "phase": "recover_lift"
        },
        {
          "step": 1473,
          "phase": "select"
        },
        {
          "step": 1474,
          "phase": "pickup_clear"
        },
        {
          "step": 1475,
          "phase": "pregrasp"
        },
        {
          "step": 1541,
          "phase": "recover_lift"
        },
        {
          "step": 1546,
          "phase": "select"
        },
        {
          "step": 1547,
          "phase": "pickup_clear"
        },
        {
          "step": 1548,
          "phase": "pregrasp"
        },
        {
          "step": 1568,
          "phase": "descend"
        },
        {
          "step": 1611,
          "phase": "close"
        },
        {
          "step": 1625,
          "phase": "lift"
        },
        {
          "step": 1645,
          "phase": "rotate_clear"
        },
        {
          "step": 1786,
          "phase": "recover_lift"
        },
        {
          "step": 1791,
          "phase": "recover_return"
        },
        {
          "step": 1846,
          "phase": "recover_lower"
        },
        {
          "step": 1889,
          "phase": "recover_open"
        },
        {
          "step": 1896,
          "phase": "retreat"
        },
        {
          "step": 1907,
          "phase": "select"
        },
        {
          "step": 1908,
          "phase": "pickup_clear"
        },
        {
          "step": 1909,
          "phase": "pregrasp"
        },
        {
          "step": 1975,
          "phase": "recover_lift"
        },
        {
          "step": 1980,
          "phase": "select"
        },
        {
          "step": 1981,
          "phase": "pickup_clear"
        },
        {
          "step": 1982,
          "phase": "pregrasp"
        },
        {
          "step": 2047,
          "phase": "descend"
        },
        {
          "step": 2093,
          "phase": "close"
        },
        {
          "step": 2107,
          "phase": "lift"
        },
        {
          "step": 2128,
          "phase": "rotate_clear"
        },
        {
          "step": 2194,
          "phase": "transit"
        },
        {
          "step": 2208,
          "phase": "approach"
        },
        {
          "step": 2220,
          "phase": "insert"
        },
        {
          "step": 2243,
          "phase": "release"
        },
        {
          "step": 2249,
          "phase": "retreat"
        },
        {
          "step": 2258,
          "phase": "verify"
        },
        {
          "step": 2281,
          "phase": "select"
        },
        {
          "step": 2282,
          "phase": "screw_clear"
        },
        {
          "step": 2283,
          "phase": "screw_above"
        },
        {
          "step": 2341,
          "phase": "screw_down"
        },
        {
          "step": 2354,
          "phase": "screw_close"
        },
        {
          "step": 2366,
          "phase": "screw_turn"
        },
        {
          "step": 2408,
          "phase": "screw_open"
        },
        {
          "step": 2415,
          "phase": "retreat"
        },
        {
          "step": 2425,
          "phase": "select"
        },
        {
          "step": 2426,
          "phase": "pickup_clear"
        },
        {
          "step": 2427,
          "phase": "pregrasp"
        },
        {
          "step": 2477,
          "phase": "descend"
        }
      ]
    }
  ],
  "completed": true,
  "successes": 0
}