{
  "task": "drawer",
  "policy_sha256": "d96382dabb6847d1b6c383e4385bac4356ac00b11444a7aef35748ce7383b449",
  "job_id": "127424",
  "steps_budget": 5000,
  "seeds": [
    3101,
    3102
  ],
  "episodes": [
    {
      "seed": 3101,
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 2,
      "error": null,
      "elapsed_s": 263.03,
      "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": 5000,
        "ee_position": [
          0.6653347015380859,
          0.07184340804815292,
          0.12520131468772888
        ],
        "ee_quaternion": [
          0.32919973134994507,
          0.9440290331840515,
          -0.01615992560982704,
          0.013248230330646038
        ],
        "joints": [
          0.053995370864868164,
          0.6077788472175598,
          0.06821165233850479,
          -1.7421047687530518,
          -0.11250805854797363,
          2.3556318283081055,
          -1.49602472782135
        ],
        "gripper_width": 0.06499993801116943,
        "parts": {
          "drawer_box": [
            0.39918965101242065,
            0.07781606167554855,
            0.026249974966049194,
            -0.6026644706726074,
            0.3698592782020569,
            -0.3698591887950897,
            0.6026638150215149
          ],
          "drawer_container_top": [
            0.3590075150132179,
            -0.1072867140173912,
            0.010500013828277588,
            -0.4919818639755249,
            -0.5078915953636169,
            0.5078914761543274,
            0.49198177456855774
          ],
          "drawer_container_bottom": [
            0.6326909959316254,
            0.04590504243969917,
            0.05104759335517883,
            0.24250809848308563,
            -0.4678017199039459,
            -0.39160144329071045,
            -0.7543205618858337
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "drawer_box",
            "drawer_container_bottom"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.22934573533134148,
            "rotation_error_deg": 102.05663239513223
          }
        },
        {
          "pair": [
            "drawer_box",
            "drawer_container_top"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1946368578365583,
            "rotation_error_deg": 154.89866425820173
          }
        }
      ],
      "phases": [
        {
          "step": 674,
          "phase": "clear"
        },
        {
          "step": 685,
          "phase": "approach"
        },
        {
          "step": 707,
          "phase": "descend"
        },
        {
          "step": 743,
          "phase": "close"
        },
        {
          "step": 758,
          "phase": "lift"
        },
        {
          "step": 792,
          "phase": "rotate"
        },
        {
          "step": 953,
          "phase": "stage"
        },
        {
          "step": 959,
          "phase": "mouth"
        },
        {
          "step": 1018,
          "phase": "cabinet_contact_abort"
        },
        {
          "step": 1019,
          "phase": "recover_high"
        },
        {
          "step": 1115,
          "phase": "recover_down"
        },
        {
          "step": 1211,
          "phase": "recover_open"
        },
        {
          "step": 1224,
          "phase": "clear"
        },
        {
          "step": 1234,
          "phase": "approach"
        },
        {
          "step": 1257,
          "phase": "descend"
        },
        {
          "step": 1291,
          "phase": "close"
        },
        {
          "step": 1306,
          "phase": "lift"
        },
        {
          "step": 1339,
          "phase": "rotate"
        },
        {
          "step": 1580,
          "phase": "recover_high"
        },
        {
          "step": 1676,
          "phase": "recover_down"
        },
        {
          "step": 1772,
          "phase": "recover_open"
        },
        {
          "step": 1787,
          "phase": "clear"
        },
        {
          "step": 1794,
          "phase": "approach"
        },
        {
          "step": 1858,
          "phase": "descend"
        },
        {
          "step": 2159,
          "phase": "recover_open"
        },
        {
          "step": 2171,
          "phase": "clear"
        },
        {
          "step": 2178,
          "phase": "approach"
        },
        {
          "step": 2180,
          "phase": "descend"
        },
        {
          "step": 2481,
          "phase": "recover_open"
        },
        {
          "step": 2493,
          "phase": "clear"
        },
        {
          "step": 2499,
          "phase": "approach"
        },
        {
          "step": 2505,
          "phase": "descend"
        },
        {
          "step": 2806,
          "phase": "recover_open"
        },
        {
          "step": 2818,
          "phase": "clear"
        },
        {
          "step": 2825,
          "phase": "approach"
        },
        {
          "step": 2827,
          "phase": "descend"
        },
        {
          "step": 3128,
          "phase": "recover_open"
        },
        {
          "step": 3140,
          "phase": "clear"
        },
        {
          "step": 3147,
          "phase": "approach"
        },
        {
          "step": 3149,
          "phase": "descend"
        },
        {
          "step": 3450,
          "phase": "recover_open"
        },
        {
          "step": 3462,
          "phase": "clear"
        },
        {
          "step": 3469,
          "phase": "approach"
        },
        {
          "step": 3474,
          "phase": "descend"
        },
        {
          "step": 3775,
          "phase": "recover_open"
        },
        {
          "step": 3787,
          "phase": "clear"
        },
        {
          "step": 3794,
          "phase": "approach"
        },
        {
          "step": 3799,
          "phase": "descend"
        },
        {
          "step": 4100,
          "phase": "recover_open"
        },
        {
          "step": 4112,
          "phase": "clear"
        },
        {
          "step": 4119,
          "phase": "approach"
        },
        {
          "step": 4123,
          "phase": "descend"
        },
        {
          "step": 4424,
          "phase": "recover_open"
        },
        {
          "step": 4436,
          "phase": "clear"
        },
        {
          "step": 4443,
          "phase": "approach"
        },
        {
          "step": 4449,
          "phase": "descend"
        },
        {
          "step": 4750,
          "phase": "recover_open"
        },
        {
          "step": 4762,
          "phase": "clear"
        },
        {
          "step": 4769,
          "phase": "approach"
        },
        {
          "step": 4774,
          "phase": "descend"
        }
      ]
    },
    {
      "seed": 3102,
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 0,
      "required_count": 2,
      "error": null,
      "elapsed_s": 246.95,
      "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": [
            0.4449239522218704,
            0.07878594100475311,
            0.02625003457069397,
            -0.5462915301322937,
            0.4489607810974121,
            -0.4489605128765106,
            0.5462912321090698
          ],
          "drawer_container_top": [
            0.4247189462184906,
            -0.09904380142688751,
            0.010500013828277588,
            -0.543030858039856,
            -0.4528988301753998,
            0.4528988301753998,
            0.5430310368537903
          ],
          "drawer_container_bottom": [
            0.553571492433548,
            -0.09960100054740906,
            0.0104999840259552,
            -0.4905029833316803,
            -0.5093202590942383,
            0.5093198418617249,
            0.4905026853084564
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.6199461221694946,
          -0.013902327045798302,
          0.34039774537086487
        ],
        "ee_quaternion": [
          0.9367356300354004,
          0.33450809121131897,
          -0.0919545367360115,
          -0.046636227518320084
        ],
        "joints": [
          0.03433579206466675,
          0.3510286211967468,
          -0.07593569159507751,
          -1.5270212888717651,
          0.044072289019823074,
          1.671081304550171,
          0.050800222903490067
        ],
        "gripper_width": 0.06499997526407242,
        "parts": {
          "drawer_box": [
            0.2502712458372116,
            0.1557886004447937,
            0.026249974966049194,
            0.01617588847875595,
            0.7069218158721924,
            -0.7069215178489685,
            -0.01617608405649662
          ],
          "drawer_container_top": [
            0.2052432745695114,
            -0.09962732344865799,
            0.03837084770202637,
            -0.07557875663042068,
            -0.6850692629814148,
            0.0794527679681778,
            -0.7201772332191467
          ],
          "drawer_container_bottom": [
            0.3831389471888542,
            -0.17288534343242645,
            0.03902995586395264,
            0.6461286544799805,
            -0.7433948516845703,
            -0.11339488625526428,
            -0.1304740458726883
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "drawer_box",
            "drawer_container_bottom"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.3479369117815643,
            "rotation_error_deg": 128.70941368989895
          }
        },
        {
          "pair": [
            "drawer_box",
            "drawer_container_top"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.25241691632786717,
            "rotation_error_deg": 115.98500579504777
          }
        }
      ],
      "phases": [
        {
          "step": 1857,
          "phase": "lift"
        },
        {
          "step": 1883,
          "phase": "recover_open"
        },
        {
          "step": 1894,
          "phase": "clear"
        },
        {
          "step": 1896,
          "phase": "approach"
        },
        {
          "step": 1900,
          "phase": "descend"
        },
        {
          "step": 1938,
          "phase": "close"
        },
        {
          "step": 1953,
          "phase": "lift"
        },
        {
          "step": 1979,
          "phase": "recover_open"
        },
        {
          "step": 1990,
          "phase": "clear"
        },
        {
          "step": 1992,
          "phase": "approach"
        },
        {
          "step": 2000,
          "phase": "descend"
        },
        {
          "step": 2038,
          "phase": "close"
        },
        {
          "step": 2053,
          "phase": "lift"
        },
        {
          "step": 2079,
          "phase": "recover_open"
        },
        {
          "step": 2090,
          "phase": "clear"
        },
        {
          "step": 2092,
          "phase": "approach"
        },
        {
          "step": 2096,
          "phase": "descend"
        },
        {
          "step": 2134,
          "phase": "close"
        },
        {
          "step": 2149,
          "phase": "lift"
        },
        {
          "step": 2175,
          "phase": "recover_open"
        },
        {
          "step": 2186,
          "phase": "clear"
        },
        {
          "step": 2188,
          "phase": "approach"
        },
        {
          "step": 2258,
          "phase": "descend"
        },
        {
          "step": 2559,
          "phase": "recover_open"
        },
        {
          "step": 2571,
          "phase": "clear"
        },
        {
          "step": 2582,
          "phase": "approach"
        },
        {
          "step": 2589,
          "phase": "descend"
        },
        {
          "step": 2627,
          "phase": "close"
        },
        {
          "step": 2642,
          "phase": "lift"
        },
        {
          "step": 2668,
          "phase": "recover_open"
        },
        {
          "step": 2679,
          "phase": "clear"
        },
        {
          "step": 2681,
          "phase": "approach"
        },
        {
          "step": 2686,
          "phase": "descend"
        },
        {
          "step": 2724,
          "phase": "close"
        },
        {
          "step": 2739,
          "phase": "lift"
        },
        {
          "step": 2767,
          "phase": "recover_open"
        },
        {
          "step": 2778,
          "phase": "clear"
        },
        {
          "step": 2780,
          "phase": "approach"
        },
        {
          "step": 2789,
          "phase": "descend"
        },
        {
          "step": 2827,
          "phase": "close"
        },
        {
          "step": 2842,
          "phase": "lift"
        },
        {
          "step": 2868,
          "phase": "recover_open"
        },
        {
          "step": 2879,
          "phase": "clear"
        },
        {
          "step": 2881,
          "phase": "approach"
        },
        {
          "step": 2888,
          "phase": "descend"
        },
        {
          "step": 2926,
          "phase": "close"
        },
        {
          "step": 2941,
          "phase": "lift"
        },
        {
          "step": 3042,
          "phase": "recover_high"
        },
        {
          "step": 3138,
          "phase": "recover_down"
        },
        {
          "step": 3234,
          "phase": "recover_open"
        },
        {
          "step": 3270,
          "phase": "clear"
        },
        {
          "step": 3332,
          "phase": "approach"
        },
        {
          "step": 3633,
          "phase": "recover_open"
        },
        {
          "step": 3669,
          "phase": "clear"
        },
        {
          "step": 3671,
          "phase": "approach"
        },
        {
          "step": 3972,
          "phase": "recover_open"
        },
        {
          "step": 4008,
          "phase": "clear"
        },
        {
          "step": 4010,
          "phase": "approach"
        },
        {
          "step": 4311,
          "phase": "recover_open"
        },
        {
          "step": 4347,
          "phase": "blocked"
        }
      ]
    }
  ],
  "completed": true,
  "successes": 0
}