{
  "task": "stool",
  "policy_sha256": "b71ed823ff16f9551c6008270a838f9b2282f3cc98e3f7f866f31b90009829dc",
  "job_id": "128565",
  "steps_budget": 5000,
  "seeds": [
    9101,
    9102,
    9103,
    9104,
    9105,
    9106,
    9107,
    9108,
    9109,
    9110
  ],
  "episodes": [
    {
      "seed": 9101,
      "evaluation_job_id": "128492",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 2,
      "required_count": 3,
      "error": null,
      "elapsed_s": 302.86,
      "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": [
            0.5951070189476013,
            0.006709282286465168,
            0.0,
            0.4878597855567932,
            -0.5118520259857178,
            -0.5118522047996521,
            0.48786014318466187
          ],
          "stool_leg1": [
            0.4860919713973999,
            -0.10954823344945908,
            0.0022329986095428467,
            0.7310198545455933,
            0.6823559999465942,
            -2.7759352860812214e-07,
            6.098291578382486e-07
          ],
          "stool_leg2": [
            0.4691437631845474,
            0.011051073670387268,
            0.0022329986095428467,
            0.7088536024093628,
            0.7053555846214294,
            -8.629091894363228e-07,
            1.7944198305031023e-07
          ],
          "stool_leg3": [
            0.48892542719841003,
            0.09835617989301682,
            0.0022330284118652344,
            0.6599618792533875,
            0.7512989640235901,
            4.3281798411953787e-07,
            2.7394585799811466e-07
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.5004085898399353,
          0.0006734022172167897,
          0.22975119948387146
        ],
        "ee_quaternion": [
          0.5478983521461487,
          -0.8360932469367981,
          0.025543030351400375,
          0.010147559456527233
        ],
        "joints": [
          -0.18129315972328186,
          -0.011612565256655216,
          0.19574376940727234,
          -2.36017107963562,
          -0.07333382219076157,
          2.3576912879943848,
          2.8329591751098633
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.6103804111480713,
            0.01729668118059635,
            -5.960464477539063e-08,
            0.4493350088596344,
            -0.5459811687469482,
            -0.5459825396537781,
            0.4493391215801239
          ],
          "stool_leg1": [
            0.62514728307724,
            -0.020784631371498108,
            0.045195937156677246,
            -0.3551183044910431,
            -0.6114535927772522,
            -0.6114715933799744,
            -0.35513103008270264
          ],
          "stool_leg2": [
            0.5700227320194244,
            0.02497723139822483,
            0.045206427574157715,
            -0.7027221918106079,
            0.0765761211514473,
            0.07738713175058365,
            -0.7030851244926453
          ],
          "stool_leg3": [
            0.5652052164077759,
            0.10583418607711792,
            0.002768009901046753,
            -2.1556211038387119e-07,
            -2.3343979194123676e-07,
            0.4886867105960846,
            -0.872459352016449
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0016632870241026112,
            "rotation_error_deg": 10.797745082178363
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0006208143347458518,
            "rotation_error_deg": 1.4100173777736824
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.09127539428523161,
            "rotation_error_deg": 99.3034775553223
          }
        }
      ],
      "phases": [
        {
          "step": 3038,
          "phase": "recover_lift"
        },
        {
          "step": 3043,
          "phase": "select"
        },
        {
          "step": 3044,
          "phase": "unwind_lift"
        },
        {
          "step": 3052,
          "phase": "unwind_turn"
        },
        {
          "step": 3213,
          "phase": "select"
        },
        {
          "step": 3214,
          "phase": "pickup_clear"
        },
        {
          "step": 3215,
          "phase": "pregrasp"
        },
        {
          "step": 3281,
          "phase": "recover_lift"
        },
        {
          "step": 3286,
          "phase": "select"
        },
        {
          "step": 3287,
          "phase": "unwind_lift"
        },
        {
          "step": 3295,
          "phase": "unwind_turn"
        },
        {
          "step": 3456,
          "phase": "select"
        },
        {
          "step": 3457,
          "phase": "pickup_clear"
        },
        {
          "step": 3458,
          "phase": "pregrasp"
        },
        {
          "step": 3524,
          "phase": "recover_lift"
        },
        {
          "step": 3529,
          "phase": "select"
        },
        {
          "step": 3530,
          "phase": "unwind_lift"
        },
        {
          "step": 3538,
          "phase": "unwind_turn"
        },
        {
          "step": 3699,
          "phase": "select"
        },
        {
          "step": 3700,
          "phase": "pickup_clear"
        },
        {
          "step": 3701,
          "phase": "pregrasp"
        },
        {
          "step": 3767,
          "phase": "recover_lift"
        },
        {
          "step": 3772,
          "phase": "select"
        },
        {
          "step": 3773,
          "phase": "unwind_lift"
        },
        {
          "step": 3781,
          "phase": "unwind_turn"
        },
        {
          "step": 3942,
          "phase": "select"
        },
        {
          "step": 3943,
          "phase": "pickup_clear"
        },
        {
          "step": 3944,
          "phase": "pregrasp"
        },
        {
          "step": 4010,
          "phase": "recover_lift"
        },
        {
          "step": 4015,
          "phase": "select"
        },
        {
          "step": 4016,
          "phase": "unwind_lift"
        },
        {
          "step": 4024,
          "phase": "unwind_turn"
        },
        {
          "step": 4185,
          "phase": "select"
        },
        {
          "step": 4186,
          "phase": "pickup_clear"
        },
        {
          "step": 4187,
          "phase": "pregrasp"
        },
        {
          "step": 4253,
          "phase": "recover_lift"
        },
        {
          "step": 4258,
          "phase": "select"
        },
        {
          "step": 4259,
          "phase": "unwind_lift"
        },
        {
          "step": 4267,
          "phase": "unwind_turn"
        },
        {
          "step": 4428,
          "phase": "select"
        },
        {
          "step": 4429,
          "phase": "pickup_clear"
        },
        {
          "step": 4430,
          "phase": "pregrasp"
        },
        {
          "step": 4496,
          "phase": "recover_lift"
        },
        {
          "step": 4501,
          "phase": "select"
        },
        {
          "step": 4502,
          "phase": "unwind_lift"
        },
        {
          "step": 4510,
          "phase": "unwind_turn"
        },
        {
          "step": 4671,
          "phase": "select"
        },
        {
          "step": 4672,
          "phase": "pickup_clear"
        },
        {
          "step": 4673,
          "phase": "pregrasp"
        },
        {
          "step": 4739,
          "phase": "recover_lift"
        },
        {
          "step": 4744,
          "phase": "select"
        },
        {
          "step": 4745,
          "phase": "unwind_lift"
        },
        {
          "step": 4753,
          "phase": "unwind_turn"
        },
        {
          "step": 4914,
          "phase": "select"
        },
        {
          "step": 4915,
          "phase": "pickup_clear"
        },
        {
          "step": 4916,
          "phase": "pregrasp"
        },
        {
          "step": 4982,
          "phase": "recover_lift"
        },
        {
          "step": 4987,
          "phase": "select"
        },
        {
          "step": 4988,
          "phase": "unwind_lift"
        },
        {
          "step": 4996,
          "phase": "unwind_turn"
        }
      ]
    },
    {
      "seed": 9102,
      "evaluation_job_id": "128492",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 1,
      "required_count": 3,
      "error": null,
      "elapsed_s": 296.76,
      "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": [
            0.5928220152854919,
            -0.013951413333415985,
            0.0,
            0.5231255292892456,
            -0.47575172781944275,
            -0.4757520258426666,
            0.5231250524520874
          ],
          "stool_leg1": [
            0.48864807188510895,
            -0.10852009803056717,
            0.0022329986095428467,
            0.7774524688720703,
            0.6289417147636414,
            2.5028145955729997e-06,
            -1.5170817277976312e-06
          ],
          "stool_leg2": [
            0.48716990649700165,
            -0.008950281888246536,
            0.0022329986095428467,
            0.6459505558013916,
            0.7633792161941528,
            -6.910588012942753e-07,
            7.696062880313548e-07
          ],
          "stool_leg3": [
            0.49218782782554626,
            0.1116408035159111,
            0.0022330284118652344,
            0.6743374466896057,
            0.7384232878684998,
            -1.593917090758623e-06,
            1.1553247531992383e-06
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.4820040464401245,
          0.0033276230096817017,
          0.20318719744682312
        ],
        "ee_quaternion": [
          0.7398337721824646,
          -0.394148051738739,
          0.32159075140953064,
          0.4403097331523895
        ],
        "joints": [
          -0.04332204908132553,
          0.24938569962978363,
          0.4257093071937561,
          -2.29941725730896,
          -1.2097374200820923,
          1.7068593502044678,
          2.8973000049591064
        ],
        "gripper_width": 0.03368092328310013,
        "parts": {
          "stool_seat": [
            0.6057887375354767,
            -0.010279426351189613,
            -2.9802322387695312e-08,
            0.4895760416984558,
            -0.5102108120918274,
            -0.510210394859314,
            0.48957693576812744
          ],
          "stool_leg1": [
            0.6249295771121979,
            -0.04662838205695152,
            0.04519563913345337,
            -0.3625138998031616,
            -0.6071098446846008,
            -0.6071050763130188,
            -0.36252540349960327
          ],
          "stool_leg2": [
            0.47855761647224426,
            -0.00191876373719424,
            0.19120818376541138,
            0.7161988019943237,
            0.34665966033935547,
            -0.145331010222435,
            0.5880179405212402
          ],
          "stool_leg3": [
            0.47778114676475525,
            0.1708698272705078,
            0.002232491970062256,
            0.09615445137023926,
            0.9953663945198059,
            -8.55929647514131e-06,
            -6.012299991198233e-07
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0005811389196307432,
            "rotation_error_deg": 0.6796162811469009
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.17012512423794568,
            "rotation_error_deg": 46.41412861472759
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.20419875303243382,
            "rotation_error_deg": 173.87171373916365
          }
        }
      ],
      "phases": [
        {
          "step": 3208,
          "phase": "retreat"
        },
        {
          "step": 3220,
          "phase": "select"
        },
        {
          "step": 3221,
          "phase": "pickup_clear"
        },
        {
          "step": 3222,
          "phase": "pregrasp"
        },
        {
          "step": 3261,
          "phase": "descend"
        },
        {
          "step": 3362,
          "phase": "recover_lift"
        },
        {
          "step": 3374,
          "phase": "select"
        },
        {
          "step": 3375,
          "phase": "pickup_clear"
        },
        {
          "step": 3376,
          "phase": "pregrasp"
        },
        {
          "step": 3442,
          "phase": "recover_lift"
        },
        {
          "step": 3447,
          "phase": "select"
        },
        {
          "step": 3448,
          "phase": "pickup_clear"
        },
        {
          "step": 3449,
          "phase": "pregrasp"
        },
        {
          "step": 3491,
          "phase": "descend"
        },
        {
          "step": 3541,
          "phase": "close"
        },
        {
          "step": 3555,
          "phase": "lift"
        },
        {
          "step": 3578,
          "phase": "rotate_clear"
        },
        {
          "step": 3669,
          "phase": "recover_lift"
        },
        {
          "step": 3674,
          "phase": "recover_return"
        },
        {
          "step": 3721,
          "phase": "recover_lower"
        },
        {
          "step": 3773,
          "phase": "recover_open"
        },
        {
          "step": 3780,
          "phase": "retreat"
        },
        {
          "step": 3792,
          "phase": "select"
        },
        {
          "step": 3793,
          "phase": "pickup_clear"
        },
        {
          "step": 3794,
          "phase": "pregrasp"
        },
        {
          "step": 3860,
          "phase": "recover_lift"
        },
        {
          "step": 3865,
          "phase": "select"
        },
        {
          "step": 3866,
          "phase": "unwind_lift"
        },
        {
          "step": 3868,
          "phase": "unwind_turn"
        },
        {
          "step": 4029,
          "phase": "select"
        },
        {
          "step": 4030,
          "phase": "pickup_clear"
        },
        {
          "step": 4031,
          "phase": "pregrasp"
        },
        {
          "step": 4080,
          "phase": "descend"
        },
        {
          "step": 4181,
          "phase": "recover_lift"
        },
        {
          "step": 4193,
          "phase": "select"
        },
        {
          "step": 4194,
          "phase": "unwind_lift"
        },
        {
          "step": 4207,
          "phase": "unwind_turn"
        },
        {
          "step": 4336,
          "phase": "select"
        },
        {
          "step": 4337,
          "phase": "pickup_clear"
        },
        {
          "step": 4338,
          "phase": "pregrasp"
        },
        {
          "step": 4404,
          "phase": "recover_lift"
        },
        {
          "step": 4409,
          "phase": "select"
        },
        {
          "step": 4410,
          "phase": "unwind_lift"
        },
        {
          "step": 4412,
          "phase": "unwind_turn"
        },
        {
          "step": 4573,
          "phase": "select"
        },
        {
          "step": 4574,
          "phase": "pickup_clear"
        },
        {
          "step": 4575,
          "phase": "pregrasp"
        },
        {
          "step": 4617,
          "phase": "descend"
        },
        {
          "step": 4718,
          "phase": "recover_lift"
        },
        {
          "step": 4730,
          "phase": "select"
        },
        {
          "step": 4731,
          "phase": "pickup_clear"
        },
        {
          "step": 4732,
          "phase": "pregrasp"
        },
        {
          "step": 4798,
          "phase": "recover_lift"
        },
        {
          "step": 4803,
          "phase": "select"
        },
        {
          "step": 4804,
          "phase": "pickup_clear"
        },
        {
          "step": 4805,
          "phase": "pregrasp"
        },
        {
          "step": 4845,
          "phase": "descend"
        },
        {
          "step": 4895,
          "phase": "close"
        },
        {
          "step": 4909,
          "phase": "lift"
        },
        {
          "step": 4932,
          "phase": "rotate_clear"
        }
      ]
    },
    {
      "seed": 9103,
      "evaluation_job_id": "128492",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 1,
      "required_count": 3,
      "error": null,
      "elapsed_s": 330.44,
      "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": [
            0.5815710425376892,
            -0.0003572156419977546,
            -2.9802322387695312e-08,
            0.45492374897003174,
            -0.5413358807563782,
            -0.5413358211517334,
            0.4549233317375183
          ],
          "stool_leg1": [
            0.4698105603456497,
            -0.10786624252796173,
            0.0022330284118652344,
            0.7622062563896179,
            0.647334098815918,
            -1.0869804611957079e-07,
            6.256474307519966e-07
          ],
          "stool_leg2": [
            0.46876104176044464,
            0.009336883202195168,
            0.0022329986095428467,
            0.6933856010437012,
            0.7205665707588196,
            -1.92760822415039e-07,
            1.3540810073209286e-07
          ],
          "stool_leg3": [
            0.4708845764398575,
            0.08974197506904602,
            0.0022330284118652344,
            0.7737451195716858,
            0.6334969401359558,
            -1.7844268285216458e-08,
            4.920067908642523e-07
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.4721183180809021,
          0.01959390938282013,
          0.2031019628047943
        ],
        "ee_quaternion": [
          0.5871027112007141,
          0.6408416628837585,
          -0.4344109296798706,
          0.23647303879261017
        ],
        "joints": [
          0.022908246144652367,
          0.3327156901359558,
          0.35267171263694763,
          -2.1002068519592285,
          -0.8667905926704407,
          1.5666342973709106,
          -0.07010310143232346
        ],
        "gripper_width": 0.033712588250637054,
        "parts": {
          "stool_seat": [
            0.5980663597583771,
            0.01678001880645752,
            -2.9802322387695312e-08,
            0.2638271749019623,
            -0.656045138835907,
            -0.656044602394104,
            0.26382845640182495
          ],
          "stool_leg1": [
            0.5865289866924286,
            -0.02259601093828678,
            0.04519566893577576,
            -0.5675544738769531,
            -0.4217556416988373,
            -0.4217474162578583,
            -0.567567765712738
          ],
          "stool_leg2": [
            0.4696532040834427,
            0.018359214067459106,
            0.1903151273727417,
            0.835178017616272,
            0.1541820764541626,
            -0.20447878539562225,
            0.4867173135280609
          ],
          "stool_leg3": [
            0.4012172371149063,
            0.12874963879585266,
            0.001535266637802124,
            -0.12496646493673325,
            0.6959753036499023,
            0.059420354664325714,
            -0.704606831073761
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.000537331091065291,
            "rotation_error_deg": 0.5832853958360585
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.17874974058718124,
            "rotation_error_deg": 58.19965128144989
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1929194555043556,
            "rotation_error_deg": 82.97579158873876
          }
        }
      ],
      "phases": [
        {
          "step": 3242,
          "phase": "descend"
        },
        {
          "step": 3292,
          "phase": "close"
        },
        {
          "step": 3306,
          "phase": "lift"
        },
        {
          "step": 3333,
          "phase": "rotate_clear"
        },
        {
          "step": 3474,
          "phase": "recover_lift"
        },
        {
          "step": 3479,
          "phase": "recover_return"
        },
        {
          "step": 3526,
          "phase": "recover_lower"
        },
        {
          "step": 3577,
          "phase": "recover_open"
        },
        {
          "step": 3584,
          "phase": "retreat"
        },
        {
          "step": 3596,
          "phase": "select"
        },
        {
          "step": 3597,
          "phase": "pickup_clear"
        },
        {
          "step": 3598,
          "phase": "pregrasp"
        },
        {
          "step": 3664,
          "phase": "recover_lift"
        },
        {
          "step": 3669,
          "phase": "select"
        },
        {
          "step": 3670,
          "phase": "pickup_clear"
        },
        {
          "step": 3671,
          "phase": "pregrasp"
        },
        {
          "step": 3703,
          "phase": "descend"
        },
        {
          "step": 3753,
          "phase": "close"
        },
        {
          "step": 3767,
          "phase": "lift"
        },
        {
          "step": 3790,
          "phase": "rotate_clear"
        },
        {
          "step": 3881,
          "phase": "recover_lift"
        },
        {
          "step": 3887,
          "phase": "recover_return"
        },
        {
          "step": 3938,
          "phase": "recover_lower"
        },
        {
          "step": 3990,
          "phase": "recover_open"
        },
        {
          "step": 3997,
          "phase": "retreat"
        },
        {
          "step": 4009,
          "phase": "select"
        },
        {
          "step": 4010,
          "phase": "pickup_clear"
        },
        {
          "step": 4011,
          "phase": "pregrasp"
        },
        {
          "step": 4019,
          "phase": "descend"
        },
        {
          "step": 4069,
          "phase": "close"
        },
        {
          "step": 4083,
          "phase": "lift"
        },
        {
          "step": 4106,
          "phase": "rotate_clear"
        },
        {
          "step": 4197,
          "phase": "recover_lift"
        },
        {
          "step": 4203,
          "phase": "recover_return"
        },
        {
          "step": 4254,
          "phase": "recover_lower"
        },
        {
          "step": 4306,
          "phase": "recover_open"
        },
        {
          "step": 4313,
          "phase": "retreat"
        },
        {
          "step": 4325,
          "phase": "select"
        },
        {
          "step": 4326,
          "phase": "pickup_clear"
        },
        {
          "step": 4327,
          "phase": "pregrasp"
        },
        {
          "step": 4367,
          "phase": "descend"
        },
        {
          "step": 4417,
          "phase": "close"
        },
        {
          "step": 4431,
          "phase": "lift"
        },
        {
          "step": 4458,
          "phase": "rotate_clear"
        },
        {
          "step": 4599,
          "phase": "recover_lift"
        },
        {
          "step": 4604,
          "phase": "recover_return"
        },
        {
          "step": 4651,
          "phase": "recover_lower"
        },
        {
          "step": 4702,
          "phase": "recover_open"
        },
        {
          "step": 4709,
          "phase": "retreat"
        },
        {
          "step": 4721,
          "phase": "select"
        },
        {
          "step": 4722,
          "phase": "pickup_clear"
        },
        {
          "step": 4723,
          "phase": "pregrasp"
        },
        {
          "step": 4789,
          "phase": "recover_lift"
        },
        {
          "step": 4794,
          "phase": "select"
        },
        {
          "step": 4795,
          "phase": "pickup_clear"
        },
        {
          "step": 4796,
          "phase": "pregrasp"
        },
        {
          "step": 4859,
          "phase": "descend"
        },
        {
          "step": 4909,
          "phase": "close"
        },
        {
          "step": 4923,
          "phase": "lift"
        },
        {
          "step": 4946,
          "phase": "rotate_clear"
        }
      ]
    },
    {
      "seed": 9104,
      "evaluation_job_id": "128492",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 1,
      "required_count": 3,
      "error": null,
      "elapsed_s": 315.59,
      "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": [
            0.5948528051376343,
            0.005534772295504808,
            2.9802322387695312e-08,
            0.5061920881271362,
            -0.49373018741607666,
            -0.49372947216033936,
            0.5061928033828735
          ],
          "stool_leg1": [
            0.4907442778348923,
            -0.08912382274866104,
            0.0022329986095428467,
            0.6686263084411621,
            0.7435985207557678,
            1.2580554766827845e-06,
            -1.6352364582417067e-06
          ],
          "stool_leg2": [
            0.4801817983388901,
            -0.013894016854465008,
            0.0022330284118652344,
            0.754510223865509,
            0.656288206577301,
            7.743203127574816e-07,
            -1.2713179842194222e-07
          ],
          "stool_leg3": [
            0.4742458462715149,
            0.09861890971660614,
            0.002233058214187622,
            0.7448776960372925,
            0.6672008633613586,
            -1.54902249960287e-06,
            9.609850621927762e-07
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.5003477931022644,
          0.00028788717463612556,
          0.2294674813747406
        ],
        "ee_quaternion": [
          0.9946113228797913,
          -0.0915786400437355,
          -0.048527006059885025,
          0.002581972163170576
        ],
        "joints": [
          -0.017583301290869713,
          0.03707560896873474,
          0.01715111918747425,
          -2.2746472358703613,
          0.0038459929637610912,
          2.214555263519287,
          0.9661597609519958
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.6054748892784119,
            0.006001315079629421,
            0.0,
            0.40661418437957764,
            -0.5785031914710999,
            -0.5785019993782043,
            0.4066130816936493
          ],
          "stool_leg1": [
            0.494631752371788,
            -0.09401951730251312,
            0.002232760190963745,
            0.7180525064468384,
            0.6959888935089111,
            -3.828262833849294e-06,
            -2.7380312985769706e-06
          ],
          "stool_leg2": [
            0.4799240976572037,
            -0.018622593954205513,
            0.002232462167739868,
            0.6984760165214539,
            0.7156333327293396,
            -5.81826725465362e-06,
            -6.077047601138474e-06
          ],
          "stool_leg3": [
            0.6343042254447937,
            0.03390997275710106,
            0.04519486427307129,
            0.32589006423950195,
            -0.6275472640991211,
            -0.6275351047515869,
            0.32585206627845764
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.13918883544701846,
            "rotation_error_deg": 90.62592072057849
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.10459256884562533,
            "rotation_error_deg": 132.89850112557048
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.002759258492586,
            "rotation_error_deg": 14.679445593540978
          }
        }
      ],
      "phases": [
        {
          "step": 3161,
          "phase": "select"
        },
        {
          "step": 3162,
          "phase": "unwind_lift"
        },
        {
          "step": 3169,
          "phase": "unwind_turn"
        },
        {
          "step": 3330,
          "phase": "select"
        },
        {
          "step": 3331,
          "phase": "pickup_clear"
        },
        {
          "step": 3332,
          "phase": "pregrasp"
        },
        {
          "step": 3341,
          "phase": "descend"
        },
        {
          "step": 3391,
          "phase": "close"
        },
        {
          "step": 3405,
          "phase": "lift"
        },
        {
          "step": 3428,
          "phase": "rotate_clear"
        },
        {
          "step": 3519,
          "phase": "recover_lift"
        },
        {
          "step": 3525,
          "phase": "recover_return"
        },
        {
          "step": 3571,
          "phase": "recover_lower"
        },
        {
          "step": 3623,
          "phase": "recover_open"
        },
        {
          "step": 3630,
          "phase": "retreat"
        },
        {
          "step": 3643,
          "phase": "select"
        },
        {
          "step": 3644,
          "phase": "pickup_clear"
        },
        {
          "step": 3645,
          "phase": "pregrasp"
        },
        {
          "step": 3711,
          "phase": "recover_lift"
        },
        {
          "step": 3716,
          "phase": "select"
        },
        {
          "step": 3717,
          "phase": "unwind_lift"
        },
        {
          "step": 3724,
          "phase": "unwind_turn"
        },
        {
          "step": 3885,
          "phase": "select"
        },
        {
          "step": 3886,
          "phase": "pickup_clear"
        },
        {
          "step": 3887,
          "phase": "pregrasp"
        },
        {
          "step": 3897,
          "phase": "descend"
        },
        {
          "step": 3947,
          "phase": "close"
        },
        {
          "step": 3961,
          "phase": "lift"
        },
        {
          "step": 3984,
          "phase": "rotate_clear"
        },
        {
          "step": 4075,
          "phase": "recover_lift"
        },
        {
          "step": 4081,
          "phase": "recover_return"
        },
        {
          "step": 4128,
          "phase": "recover_lower"
        },
        {
          "step": 4180,
          "phase": "recover_open"
        },
        {
          "step": 4187,
          "phase": "retreat"
        },
        {
          "step": 4200,
          "phase": "select"
        },
        {
          "step": 4201,
          "phase": "pickup_clear"
        },
        {
          "step": 4202,
          "phase": "pregrasp"
        },
        {
          "step": 4268,
          "phase": "recover_lift"
        },
        {
          "step": 4273,
          "phase": "select"
        },
        {
          "step": 4274,
          "phase": "unwind_lift"
        },
        {
          "step": 4281,
          "phase": "unwind_turn"
        },
        {
          "step": 4442,
          "phase": "select"
        },
        {
          "step": 4443,
          "phase": "pickup_clear"
        },
        {
          "step": 4444,
          "phase": "pregrasp"
        },
        {
          "step": 4455,
          "phase": "descend"
        },
        {
          "step": 4507,
          "phase": "close"
        },
        {
          "step": 4521,
          "phase": "lift"
        },
        {
          "step": 4544,
          "phase": "rotate_clear"
        },
        {
          "step": 4635,
          "phase": "recover_lift"
        },
        {
          "step": 4641,
          "phase": "recover_return"
        },
        {
          "step": 4689,
          "phase": "recover_lower"
        },
        {
          "step": 4741,
          "phase": "recover_open"
        },
        {
          "step": 4748,
          "phase": "retreat"
        },
        {
          "step": 4760,
          "phase": "select"
        },
        {
          "step": 4761,
          "phase": "pickup_clear"
        },
        {
          "step": 4762,
          "phase": "pregrasp"
        },
        {
          "step": 4828,
          "phase": "recover_lift"
        },
        {
          "step": 4833,
          "phase": "select"
        },
        {
          "step": 4834,
          "phase": "unwind_lift"
        },
        {
          "step": 4841,
          "phase": "unwind_turn"
        }
      ]
    },
    {
      "seed": 9105,
      "evaluation_job_id": "128492",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 1,
      "required_count": 3,
      "error": null,
      "elapsed_s": 299.78,
      "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": [
            0.5864838063716888,
            0.008950592949986458,
            0.0,
            0.5264526009559631,
            -0.47206759452819824,
            -0.4720669388771057,
            0.5264527797698975
          ],
          "stool_leg1": [
            0.49266013503074646,
            -0.0995042473077774,
            0.0022330284118652344,
            0.6597739458084106,
            0.7514640092849731,
            -9.612632112521169e-08,
            1.00675083558599e-06
          ],
          "stool_leg2": [
            0.4723050147294998,
            -0.012341959401965141,
            0.0022329986095428467,
            0.6848638653755188,
            0.7286710143089294,
            -7.563610324723413e-07,
            3.826991985533823e-07
          ],
          "stool_leg3": [
            0.47478263080120087,
            0.09637130796909332,
            0.0022330284118652344,
            0.6451959013938904,
            0.7640170454978943,
            -1.8357541193836369e-06,
            1.3545241017709486e-06
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.4157480001449585,
          -0.11221366375684738,
          0.10395750403404236
        ],
        "ee_quaternion": [
          0.9407033920288086,
          -0.33922818303108215,
          -0.00094338518101722,
          0.0006716539501212537
        ],
        "joints": [
          -0.05175941437482834,
          0.12025277316570282,
          -0.20061913132667542,
          -2.6282875537872314,
          0.05871672183275223,
          2.7435288429260254,
          1.1724424362182617
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.4702703356742859,
            -0.07616633176803589,
            -5.960464477539063e-08,
            0.6478626728057861,
            0.2833273708820343,
            0.28332725167274475,
            0.647861897945404
          ],
          "stool_leg1": [
            0.4767196774482727,
            -0.03581426292657852,
            0.04519352316856384,
            0.5139800906181335,
            -0.48567214608192444,
            -0.4856724739074707,
            0.5138765573501587
          ],
          "stool_leg2": [
            0.4066186249256134,
            -0.10650978237390518,
            0.0022329986095428467,
            0.9057387113571167,
            0.42383643984794617,
            -1.3075097058390384e-06,
            3.67451576721578e-07
          ],
          "stool_leg3": [
            0.4384292960166931,
            0.14664050936698914,
            0.0015354752540588379,
            0.1946224868297577,
            0.679795503616333,
            0.3639419376850128,
            -0.6062560081481934
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0026388676999507064,
            "rotation_error_deg": 15.996272182932177
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.05278689569045062,
            "rotation_error_deg": 94.60268479761713
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.19271655440304106,
            "rotation_error_deg": 81.37180342142727
          }
        }
      ],
      "phases": [
        {
          "step": 3095,
          "phase": "pickup_clear"
        },
        {
          "step": 3096,
          "phase": "pregrasp"
        },
        {
          "step": 3162,
          "phase": "recover_lift"
        },
        {
          "step": 3167,
          "phase": "select"
        },
        {
          "step": 3168,
          "phase": "pickup_clear"
        },
        {
          "step": 3169,
          "phase": "pregrasp"
        },
        {
          "step": 3205,
          "phase": "descend"
        },
        {
          "step": 3254,
          "phase": "close"
        },
        {
          "step": 3268,
          "phase": "lift"
        },
        {
          "step": 3291,
          "phase": "rotate_clear"
        },
        {
          "step": 3376,
          "phase": "transit"
        },
        {
          "step": 3396,
          "phase": "approach"
        },
        {
          "step": 3406,
          "phase": "insert"
        },
        {
          "step": 3547,
          "phase": "recover_lift"
        },
        {
          "step": 3557,
          "phase": "recover_return"
        },
        {
          "step": 3640,
          "phase": "recover_lower"
        },
        {
          "step": 3693,
          "phase": "recover_open"
        },
        {
          "step": 3700,
          "phase": "retreat"
        },
        {
          "step": 3712,
          "phase": "select"
        },
        {
          "step": 3713,
          "phase": "pickup_clear"
        },
        {
          "step": 3714,
          "phase": "pregrasp"
        },
        {
          "step": 3780,
          "phase": "recover_lift"
        },
        {
          "step": 3785,
          "phase": "select"
        },
        {
          "step": 3786,
          "phase": "unwind_lift"
        },
        {
          "step": 3797,
          "phase": "unwind_turn"
        },
        {
          "step": 3957,
          "phase": "select"
        },
        {
          "step": 3958,
          "phase": "pickup_clear"
        },
        {
          "step": 3959,
          "phase": "pregrasp"
        },
        {
          "step": 3983,
          "phase": "descend"
        },
        {
          "step": 4084,
          "phase": "recover_lift"
        },
        {
          "step": 4095,
          "phase": "select"
        },
        {
          "step": 4096,
          "phase": "pickup_clear"
        },
        {
          "step": 4097,
          "phase": "pregrasp"
        },
        {
          "step": 4163,
          "phase": "recover_lift"
        },
        {
          "step": 4168,
          "phase": "select"
        },
        {
          "step": 4169,
          "phase": "pickup_clear"
        },
        {
          "step": 4170,
          "phase": "pregrasp"
        },
        {
          "step": 4205,
          "phase": "descend"
        },
        {
          "step": 4254,
          "phase": "close"
        },
        {
          "step": 4268,
          "phase": "lift"
        },
        {
          "step": 4291,
          "phase": "rotate_clear"
        },
        {
          "step": 4374,
          "phase": "transit"
        },
        {
          "step": 4394,
          "phase": "approach"
        },
        {
          "step": 4404,
          "phase": "insert"
        },
        {
          "step": 4545,
          "phase": "recover_lift"
        },
        {
          "step": 4554,
          "phase": "recover_return"
        },
        {
          "step": 4633,
          "phase": "recover_lower"
        },
        {
          "step": 4685,
          "phase": "recover_open"
        },
        {
          "step": 4692,
          "phase": "retreat"
        },
        {
          "step": 4704,
          "phase": "select"
        },
        {
          "step": 4705,
          "phase": "pickup_clear"
        },
        {
          "step": 4706,
          "phase": "pregrasp"
        },
        {
          "step": 4772,
          "phase": "recover_lift"
        },
        {
          "step": 4777,
          "phase": "select"
        },
        {
          "step": 4778,
          "phase": "unwind_lift"
        },
        {
          "step": 4789,
          "phase": "unwind_turn"
        },
        {
          "step": 4949,
          "phase": "select"
        },
        {
          "step": 4950,
          "phase": "pickup_clear"
        },
        {
          "step": 4951,
          "phase": "pregrasp"
        },
        {
          "step": 4975,
          "phase": "descend"
        }
      ]
    },
    {
      "seed": 9106,
      "evaluation_job_id": "128492",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 2,
      "required_count": 3,
      "error": null,
      "elapsed_s": 308.29,
      "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": [
            0.5909800231456757,
            0.012705002911388874,
            0.0,
            0.497263103723526,
            -0.5027222037315369,
            -0.5027216672897339,
            0.497263103723526
          ],
          "stool_leg1": [
            0.4759731739759445,
            -0.09107955545186996,
            0.0022329986095428467,
            0.6850637793540955,
            0.7284829616546631,
            6.664029683633999e-07,
            -1.2717463278022478e-06
          ],
          "stool_leg2": [
            0.4892479479312897,
            0.004749602172523737,
            0.002232968807220459,
            0.7432079911231995,
            0.6690604090690613,
            1.9211727320112004e-08,
            4.9593385398338796e-08
          ],
          "stool_leg3": [
            0.4771903306245804,
            0.11006984114646912,
            0.0022329986095428467,
            0.6665226817131042,
            0.7454847693443298,
            -5.541523933061399e-07,
            1.33699984417035e-07
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.5699185132980347,
          0.11627309024333954,
          0.194809228181839
        ],
        "ee_quaternion": [
          0.971404492855072,
          -0.2324138879776001,
          -0.04620831087231636,
          0.014892526902258396
        ],
        "joints": [
          -0.012654557824134827,
          0.3147726356983185,
          0.22229726612567902,
          -1.9985370635986328,
          -0.06993252784013748,
          2.2083141803741455,
          1.5018116235733032
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.6214998364448547,
            0.03298049047589302,
            2.9802322387695312e-08,
            -0.39972734451293945,
            -0.583281934261322,
            -0.5832822918891907,
            -0.3997272253036499
          ],
          "stool_leg1": [
            0.5895340144634247,
            0.0587417371571064,
            0.045195549726486206,
            -0.666813850402832,
            0.23530343174934387,
            0.23521967232227325,
            -0.6668306589126587
          ],
          "stool_leg2": [
            0.6587874591350555,
            0.049496375024318695,
            0.04519495368003845,
            -0.1925003081560135,
            0.6804139018058777,
            0.6803702116012573,
            -0.19255341589450836
          ],
          "stool_leg3": [
            0.5594563782215118,
            0.11469138413667679,
            0.0027679800987243652,
            -8.288455433103081e-08,
            -2.501287497125304e-07,
            0.623826801776886,
            -0.7815626263618469
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0005485198883264275,
            "rotation_error_deg": 0.021618721439443427
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0019661566262827767,
            "rotation_error_deg": 10.445494842581104
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.07667772890633144,
            "rotation_error_deg": 96.19204401475189
          }
        }
      ],
      "phases": [
        {
          "step": 4252,
          "phase": "screw_turn"
        },
        {
          "step": 4287,
          "phase": "screw_open"
        },
        {
          "step": 4294,
          "phase": "retreat"
        },
        {
          "step": 4305,
          "phase": "select"
        },
        {
          "step": 4306,
          "phase": "screw_clear"
        },
        {
          "step": 4307,
          "phase": "screw_above"
        },
        {
          "step": 4340,
          "phase": "screw_down"
        },
        {
          "step": 4353,
          "phase": "screw_close"
        },
        {
          "step": 4365,
          "phase": "screw_turn"
        },
        {
          "step": 4400,
          "phase": "screw_open"
        },
        {
          "step": 4407,
          "phase": "retreat"
        },
        {
          "step": 4417,
          "phase": "select"
        },
        {
          "step": 4418,
          "phase": "verify"
        },
        {
          "step": 4426,
          "phase": "select"
        },
        {
          "step": 4427,
          "phase": "screw_clear"
        },
        {
          "step": 4428,
          "phase": "screw_above"
        },
        {
          "step": 4455,
          "phase": "screw_down"
        },
        {
          "step": 4468,
          "phase": "screw_close"
        },
        {
          "step": 4480,
          "phase": "screw_turn"
        },
        {
          "step": 4515,
          "phase": "screw_open"
        },
        {
          "step": 4522,
          "phase": "retreat"
        },
        {
          "step": 4532,
          "phase": "select"
        },
        {
          "step": 4533,
          "phase": "screw_clear"
        },
        {
          "step": 4534,
          "phase": "screw_above"
        },
        {
          "step": 4566,
          "phase": "screw_down"
        },
        {
          "step": 4579,
          "phase": "screw_close"
        },
        {
          "step": 4591,
          "phase": "screw_turn"
        },
        {
          "step": 4626,
          "phase": "screw_open"
        },
        {
          "step": 4633,
          "phase": "retreat"
        },
        {
          "step": 4643,
          "phase": "select"
        },
        {
          "step": 4644,
          "phase": "screw_clear"
        },
        {
          "step": 4645,
          "phase": "screw_above"
        },
        {
          "step": 4674,
          "phase": "screw_down"
        },
        {
          "step": 4687,
          "phase": "screw_close"
        },
        {
          "step": 4699,
          "phase": "screw_turn"
        },
        {
          "step": 4734,
          "phase": "screw_open"
        },
        {
          "step": 4741,
          "phase": "retreat"
        },
        {
          "step": 4751,
          "phase": "select"
        },
        {
          "step": 4752,
          "phase": "verify"
        },
        {
          "step": 4760,
          "phase": "select"
        },
        {
          "step": 4761,
          "phase": "screw_clear"
        },
        {
          "step": 4762,
          "phase": "screw_above"
        },
        {
          "step": 4787,
          "phase": "screw_down"
        },
        {
          "step": 4800,
          "phase": "screw_close"
        },
        {
          "step": 4812,
          "phase": "screw_turn"
        },
        {
          "step": 4847,
          "phase": "screw_open"
        },
        {
          "step": 4854,
          "phase": "retreat"
        },
        {
          "step": 4864,
          "phase": "select"
        },
        {
          "step": 4865,
          "phase": "screw_clear"
        },
        {
          "step": 4866,
          "phase": "screw_above"
        },
        {
          "step": 4893,
          "phase": "screw_down"
        },
        {
          "step": 4906,
          "phase": "screw_close"
        },
        {
          "step": 4918,
          "phase": "screw_turn"
        },
        {
          "step": 4953,
          "phase": "screw_open"
        },
        {
          "step": 4960,
          "phase": "retreat"
        },
        {
          "step": 4970,
          "phase": "select"
        },
        {
          "step": 4971,
          "phase": "verify"
        },
        {
          "step": 4979,
          "phase": "select"
        },
        {
          "step": 4980,
          "phase": "pickup_clear"
        },
        {
          "step": 4981,
          "phase": "pregrasp"
        }
      ]
    },
    {
      "seed": 9107,
      "evaluation_job_id": "128565",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 1,
      "required_count": 3,
      "error": null,
      "elapsed_s": 317.62,
      "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": [
            0.587780237197876,
            -0.013751693069934845,
            0.0,
            0.4965709447860718,
            -0.5034058690071106,
            -0.5034058094024658,
            0.4965705871582031
          ],
          "stool_leg1": [
            0.4767867177724838,
            -0.10401219129562378,
            0.0022329986095428467,
            0.7571425437927246,
            0.6532496809959412,
            -3.0831344588477805e-07,
            6.849516580587078e-07
          ],
          "stool_leg2": [
            0.4745194613933563,
            -0.011256364174187183,
            0.0022329986095428467,
            0.7088891863822937,
            0.7053198218345642,
            1.9975773568603472e-07,
            1.8382932864824397e-07
          ],
          "stool_leg3": [
            0.4670763313770294,
            0.08866311609745026,
            0.0022330284118652344,
            0.6584922075271606,
            0.7525874972343445,
            -1.713334427222435e-06,
            1.317462078986864e-06
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.5003412365913391,
          0.00028042157646268606,
          0.22945967316627502
        ],
        "ee_quaternion": [
          0.7519962191581726,
          -0.6577563881874084,
          -0.035696644335985184,
          -0.024162977933883667
        ],
        "joints": [
          -0.02934866212308407,
          0.0037674817722290754,
          0.00837593525648117,
          -2.333693504333496,
          0.11232651025056839,
          2.3105854988098145,
          2.1248435974121094
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.6211476027965546,
            0.026720313355326653,
            8.940696716308594e-08,
            0.2762643098831177,
            -0.6509045958518982,
            -0.650906503200531,
            0.27626416087150574
          ],
          "stool_leg1": [
            0.4760525971651077,
            -0.10400573164224625,
            0.0022323131561279297,
            0.7568488121032715,
            0.6535899639129639,
            2.4125358777382644e-06,
            -4.2585247683746275e-06
          ],
          "stool_leg2": [
            0.47370652854442596,
            -0.016647541895508766,
            0.002232462167739868,
            0.6786155104637146,
            0.7344935536384583,
            -6.726636456733104e-06,
            -5.4210563575907145e-06
          ],
          "stool_leg3": [
            0.6594522595405579,
            0.03935311362147331,
            0.04519626498222351,
            0.14936372637748718,
            -0.6911259293556213,
            -0.6911929249763489,
            0.14929071068763733
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.16876848291984523,
            "rotation_error_deg": 90.13832681162947
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1441782671178574,
            "rotation_error_deg": 91.48674545215755
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0016182281237400087,
            "rotation_error_deg": 8.387389807282135
          }
        }
      ],
      "phases": [
        {
          "step": 3245,
          "phase": "select"
        },
        {
          "step": 3246,
          "phase": "unwind_lift"
        },
        {
          "step": 3254,
          "phase": "unwind_turn"
        },
        {
          "step": 3415,
          "phase": "select"
        },
        {
          "step": 3416,
          "phase": "pickup_clear"
        },
        {
          "step": 3417,
          "phase": "pregrasp"
        },
        {
          "step": 3427,
          "phase": "descend"
        },
        {
          "step": 3477,
          "phase": "close"
        },
        {
          "step": 3491,
          "phase": "lift"
        },
        {
          "step": 3514,
          "phase": "rotate_clear"
        },
        {
          "step": 3605,
          "phase": "recover_lift"
        },
        {
          "step": 3611,
          "phase": "recover_return"
        },
        {
          "step": 3662,
          "phase": "recover_lower"
        },
        {
          "step": 3714,
          "phase": "recover_open"
        },
        {
          "step": 3721,
          "phase": "retreat"
        },
        {
          "step": 3733,
          "phase": "select"
        },
        {
          "step": 3734,
          "phase": "pickup_clear"
        },
        {
          "step": 3735,
          "phase": "pregrasp"
        },
        {
          "step": 3801,
          "phase": "recover_lift"
        },
        {
          "step": 3806,
          "phase": "select"
        },
        {
          "step": 3807,
          "phase": "unwind_lift"
        },
        {
          "step": 3815,
          "phase": "unwind_turn"
        },
        {
          "step": 3976,
          "phase": "select"
        },
        {
          "step": 3977,
          "phase": "pickup_clear"
        },
        {
          "step": 3978,
          "phase": "pregrasp"
        },
        {
          "step": 3989,
          "phase": "descend"
        },
        {
          "step": 4039,
          "phase": "close"
        },
        {
          "step": 4053,
          "phase": "lift"
        },
        {
          "step": 4076,
          "phase": "rotate_clear"
        },
        {
          "step": 4167,
          "phase": "recover_lift"
        },
        {
          "step": 4173,
          "phase": "recover_return"
        },
        {
          "step": 4224,
          "phase": "recover_lower"
        },
        {
          "step": 4276,
          "phase": "recover_open"
        },
        {
          "step": 4283,
          "phase": "retreat"
        },
        {
          "step": 4295,
          "phase": "select"
        },
        {
          "step": 4296,
          "phase": "pickup_clear"
        },
        {
          "step": 4297,
          "phase": "pregrasp"
        },
        {
          "step": 4363,
          "phase": "recover_lift"
        },
        {
          "step": 4368,
          "phase": "select"
        },
        {
          "step": 4369,
          "phase": "unwind_lift"
        },
        {
          "step": 4377,
          "phase": "unwind_turn"
        },
        {
          "step": 4538,
          "phase": "select"
        },
        {
          "step": 4539,
          "phase": "pickup_clear"
        },
        {
          "step": 4540,
          "phase": "pregrasp"
        },
        {
          "step": 4550,
          "phase": "descend"
        },
        {
          "step": 4600,
          "phase": "close"
        },
        {
          "step": 4614,
          "phase": "lift"
        },
        {
          "step": 4637,
          "phase": "rotate_clear"
        },
        {
          "step": 4728,
          "phase": "recover_lift"
        },
        {
          "step": 4734,
          "phase": "recover_return"
        },
        {
          "step": 4786,
          "phase": "recover_lower"
        },
        {
          "step": 4838,
          "phase": "recover_open"
        },
        {
          "step": 4845,
          "phase": "retreat"
        },
        {
          "step": 4857,
          "phase": "select"
        },
        {
          "step": 4858,
          "phase": "pickup_clear"
        },
        {
          "step": 4859,
          "phase": "pregrasp"
        },
        {
          "step": 4925,
          "phase": "recover_lift"
        },
        {
          "step": 4930,
          "phase": "select"
        },
        {
          "step": 4931,
          "phase": "unwind_lift"
        },
        {
          "step": 4939,
          "phase": "unwind_turn"
        }
      ]
    },
    {
      "seed": 9108,
      "evaluation_job_id": "128565",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 1,
      "required_count": 3,
      "error": null,
      "elapsed_s": 338.55,
      "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": [
            0.5840039849281311,
            0.009969398379325867,
            0.0,
            0.4648013710975647,
            -0.5328787565231323,
            -0.5328789949417114,
            0.4648006856441498
          ],
          "stool_leg1": [
            0.4904628396034241,
            -0.09434306621551514,
            0.002232581377029419,
            0.7237699627876282,
            0.6900412440299988,
            -8.676115612615831e-06,
            -3.242976845285739e-06
          ],
          "stool_leg2": [
            0.46841810643672943,
            0.002926173619925976,
            0.0022329986095428467,
            0.6599006056785583,
            0.751352846622467,
            -1.3922708603786305e-06,
            9.907907951856032e-07
          ],
          "stool_leg3": [
            0.4837520271539688,
            0.10981009900569916,
            0.0022329986095428467,
            0.7857322692871094,
            0.6185665726661682,
            -5.0955296870824895e-08,
            3.398863412940045e-08
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.47196322679519653,
          0.013298466801643372,
          0.204178124666214
        ],
        "ee_quaternion": [
          0.6226662397384644,
          -0.4976794123649597,
          0.17181196808815002,
          0.5788631439208984
        ],
        "joints": [
          0.020919399335980415,
          0.5403482913970947,
          0.3995962142944336,
          -1.9066747426986694,
          -0.9117856621742249,
          1.2169764041900635,
          2.8973002433776855
        ],
        "gripper_width": 0.03412909060716629,
        "parts": {
          "stool_seat": [
            0.5971971452236176,
            0.027113627642393112,
            -2.9802322387695312e-08,
            0.28446823358535767,
            -0.6473606824874878,
            -0.6473633050918579,
            0.28446897864341736
          ],
          "stool_leg1": [
            0.588318943977356,
            -0.013004422187805176,
            0.045195430517196655,
            -0.5500986576080322,
            -0.4442923963069916,
            -0.44450029730796814,
            -0.5499228239059448
          ],
          "stool_leg2": [
            0.4648440480232239,
            0.011719653382897377,
            0.19273805618286133,
            0.7592394351959229,
            0.18767963349819183,
            -0.34677258133888245,
            0.5177650451660156
          ],
          "stool_leg3": [
            0.4736790955066681,
            0.17254993319511414,
            0.0022330284118652344,
            0.1308717429637909,
            0.9913992285728455,
            -8.244976470450638e-07,
            -2.5663662199804094e-06
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0005831168137742958,
            "rotation_error_deg": 0.43141899355286645
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.18483367676850543,
            "rotation_error_deg": 56.17056942952777
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.15661501823304283,
            "rotation_error_deg": 160.63762379949375
          }
        }
      ],
      "phases": [
        {
          "step": 3225,
          "phase": "unwind_turn"
        },
        {
          "step": 3381,
          "phase": "select"
        },
        {
          "step": 3382,
          "phase": "pickup_clear"
        },
        {
          "step": 3383,
          "phase": "pregrasp"
        },
        {
          "step": 3388,
          "phase": "descend"
        },
        {
          "step": 3438,
          "phase": "close"
        },
        {
          "step": 3452,
          "phase": "lift"
        },
        {
          "step": 3475,
          "phase": "rotate_clear"
        },
        {
          "step": 3566,
          "phase": "recover_lift"
        },
        {
          "step": 3572,
          "phase": "recover_return"
        },
        {
          "step": 3625,
          "phase": "recover_lower"
        },
        {
          "step": 3677,
          "phase": "recover_open"
        },
        {
          "step": 3684,
          "phase": "retreat"
        },
        {
          "step": 3696,
          "phase": "select"
        },
        {
          "step": 3697,
          "phase": "pickup_clear"
        },
        {
          "step": 3698,
          "phase": "pregrasp"
        },
        {
          "step": 3735,
          "phase": "descend"
        },
        {
          "step": 3836,
          "phase": "recover_lift"
        },
        {
          "step": 3848,
          "phase": "select"
        },
        {
          "step": 3849,
          "phase": "pickup_clear"
        },
        {
          "step": 3850,
          "phase": "pregrasp"
        },
        {
          "step": 3916,
          "phase": "recover_lift"
        },
        {
          "step": 3921,
          "phase": "select"
        },
        {
          "step": 3922,
          "phase": "pickup_clear"
        },
        {
          "step": 3923,
          "phase": "pregrasp"
        },
        {
          "step": 3967,
          "phase": "descend"
        },
        {
          "step": 4017,
          "phase": "close"
        },
        {
          "step": 4031,
          "phase": "lift"
        },
        {
          "step": 4054,
          "phase": "rotate_clear"
        },
        {
          "step": 4145,
          "phase": "recover_lift"
        },
        {
          "step": 4151,
          "phase": "recover_return"
        },
        {
          "step": 4203,
          "phase": "recover_lower"
        },
        {
          "step": 4255,
          "phase": "recover_open"
        },
        {
          "step": 4262,
          "phase": "retreat"
        },
        {
          "step": 4274,
          "phase": "select"
        },
        {
          "step": 4275,
          "phase": "pickup_clear"
        },
        {
          "step": 4276,
          "phase": "pregrasp"
        },
        {
          "step": 4283,
          "phase": "descend"
        },
        {
          "step": 4333,
          "phase": "close"
        },
        {
          "step": 4347,
          "phase": "lift"
        },
        {
          "step": 4370,
          "phase": "rotate_clear"
        },
        {
          "step": 4461,
          "phase": "recover_lift"
        },
        {
          "step": 4467,
          "phase": "recover_return"
        },
        {
          "step": 4519,
          "phase": "recover_lower"
        },
        {
          "step": 4571,
          "phase": "recover_open"
        },
        {
          "step": 4578,
          "phase": "retreat"
        },
        {
          "step": 4590,
          "phase": "select"
        },
        {
          "step": 4591,
          "phase": "pickup_clear"
        },
        {
          "step": 4592,
          "phase": "pregrasp"
        },
        {
          "step": 4658,
          "phase": "recover_lift"
        },
        {
          "step": 4663,
          "phase": "select"
        },
        {
          "step": 4664,
          "phase": "unwind_lift"
        },
        {
          "step": 4677,
          "phase": "unwind_turn"
        },
        {
          "step": 4833,
          "phase": "select"
        },
        {
          "step": 4834,
          "phase": "pickup_clear"
        },
        {
          "step": 4835,
          "phase": "pregrasp"
        },
        {
          "step": 4840,
          "phase": "descend"
        },
        {
          "step": 4890,
          "phase": "close"
        },
        {
          "step": 4904,
          "phase": "lift"
        },
        {
          "step": 4927,
          "phase": "rotate_clear"
        }
      ]
    },
    {
      "seed": 9109,
      "evaluation_job_id": "128565",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 1,
      "required_count": 3,
      "error": null,
      "elapsed_s": 306.56,
      "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": [
            0.5846817493438721,
            -0.014735894277691841,
            0.0,
            0.5095973014831543,
            -0.49021434783935547,
            -0.490214467048645,
            0.5095980167388916
          ],
          "stool_leg1": [
            0.48130248486995697,
            -0.11159340292215347,
            0.002233058214187622,
            0.6211425065994263,
            0.7836975455284119,
            -5.82284485517448e-07,
            8.58811404214066e-07
          ],
          "stool_leg2": [
            0.48044052720069885,
            -0.004713420756161213,
            0.0022329986095428467,
            0.6898908615112305,
            0.7239132523536682,
            -2.8280899755372957e-07,
            2.9819804581165954e-07
          ],
          "stool_leg3": [
            0.4853576421737671,
            0.09230037033557892,
            0.002233058214187622,
            0.72203528881073,
            0.6918561458587646,
            -1.7057125205610646e-06,
            1.3578434163719066e-06
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.5240160822868347,
          -0.08755061030387878,
          0.16533347964286804
        ],
        "ee_quaternion": [
          0.34583041071891785,
          0.9382404685020447,
          -0.006882748566567898,
          -0.007657854817807674
        ],
        "joints": [
          0.48162221908569336,
          0.2497817873954773,
          -0.6429372429847717,
          -2.266162633895874,
          0.21492592990398407,
          2.438119888305664,
          -1.963700294494629
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.6215084493160248,
            -0.00854567438364029,
            -8.940696716308594e-08,
            0.014924933202564716,
            -0.7069493532180786,
            -0.70694899559021,
            0.014926920644938946
          ],
          "stool_leg1": [
            0.5145808607339859,
            -0.12863479554653168,
            0.0022325515747070312,
            0.8582227826118469,
            0.5132771730422974,
            -4.514927695709048e-06,
            -6.514473170682322e-06
          ],
          "stool_leg2": [
            0.5165643692016602,
            -0.08120347559452057,
            0.0022721588611602783,
            -0.5989354848861694,
            -0.3758673369884491,
            0.6758091449737549,
            -0.20804300904273987
          ],
          "stool_leg3": [
            0.6583338379859924,
            -0.02592446468770504,
            0.04519501328468323,
            -0.11482807993888855,
            -0.6977176666259766,
            -0.6977320909500122,
            -0.11477983742952347
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.1295705293837619,
            "rotation_error_deg": 93.6794081864091
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.09705788983403452,
            "rotation_error_deg": 121.48543495586888
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0016641566230011964,
            "rotation_error_deg": 8.893470808742888
          }
        }
      ],
      "phases": [
        {
          "step": 3757,
          "phase": "pregrasp"
        },
        {
          "step": 3823,
          "phase": "recover_lift"
        },
        {
          "step": 3828,
          "phase": "select"
        },
        {
          "step": 3829,
          "phase": "pickup_clear"
        },
        {
          "step": 3830,
          "phase": "pregrasp"
        },
        {
          "step": 3836,
          "phase": "descend"
        },
        {
          "step": 3937,
          "phase": "recover_lift"
        },
        {
          "step": 3949,
          "phase": "select"
        },
        {
          "step": 3950,
          "phase": "pickup_clear"
        },
        {
          "step": 3951,
          "phase": "pregrasp"
        },
        {
          "step": 3952,
          "phase": "descend"
        },
        {
          "step": 4053,
          "phase": "recover_lift"
        },
        {
          "step": 4065,
          "phase": "select"
        },
        {
          "step": 4066,
          "phase": "pickup_clear"
        },
        {
          "step": 4067,
          "phase": "pregrasp"
        },
        {
          "step": 4133,
          "phase": "recover_lift"
        },
        {
          "step": 4138,
          "phase": "select"
        },
        {
          "step": 4139,
          "phase": "pickup_clear"
        },
        {
          "step": 4140,
          "phase": "pregrasp"
        },
        {
          "step": 4206,
          "phase": "recover_lift"
        },
        {
          "step": 4212,
          "phase": "select"
        },
        {
          "step": 4213,
          "phase": "pickup_clear"
        },
        {
          "step": 4214,
          "phase": "pregrasp"
        },
        {
          "step": 4221,
          "phase": "descend"
        },
        {
          "step": 4322,
          "phase": "recover_lift"
        },
        {
          "step": 4334,
          "phase": "select"
        },
        {
          "step": 4335,
          "phase": "pickup_clear"
        },
        {
          "step": 4336,
          "phase": "pregrasp"
        },
        {
          "step": 4337,
          "phase": "descend"
        },
        {
          "step": 4438,
          "phase": "recover_lift"
        },
        {
          "step": 4450,
          "phase": "select"
        },
        {
          "step": 4451,
          "phase": "pickup_clear"
        },
        {
          "step": 4452,
          "phase": "pregrasp"
        },
        {
          "step": 4518,
          "phase": "recover_lift"
        },
        {
          "step": 4523,
          "phase": "select"
        },
        {
          "step": 4524,
          "phase": "pickup_clear"
        },
        {
          "step": 4525,
          "phase": "pregrasp"
        },
        {
          "step": 4591,
          "phase": "recover_lift"
        },
        {
          "step": 4597,
          "phase": "select"
        },
        {
          "step": 4598,
          "phase": "pickup_clear"
        },
        {
          "step": 4599,
          "phase": "pregrasp"
        },
        {
          "step": 4606,
          "phase": "descend"
        },
        {
          "step": 4707,
          "phase": "recover_lift"
        },
        {
          "step": 4719,
          "phase": "select"
        },
        {
          "step": 4720,
          "phase": "pickup_clear"
        },
        {
          "step": 4721,
          "phase": "pregrasp"
        },
        {
          "step": 4722,
          "phase": "descend"
        },
        {
          "step": 4823,
          "phase": "recover_lift"
        },
        {
          "step": 4835,
          "phase": "select"
        },
        {
          "step": 4836,
          "phase": "pickup_clear"
        },
        {
          "step": 4837,
          "phase": "pregrasp"
        },
        {
          "step": 4903,
          "phase": "recover_lift"
        },
        {
          "step": 4908,
          "phase": "select"
        },
        {
          "step": 4909,
          "phase": "pickup_clear"
        },
        {
          "step": 4910,
          "phase": "pregrasp"
        },
        {
          "step": 4976,
          "phase": "recover_lift"
        },
        {
          "step": 4982,
          "phase": "select"
        },
        {
          "step": 4983,
          "phase": "pickup_clear"
        },
        {
          "step": 4984,
          "phase": "pregrasp"
        },
        {
          "step": 4991,
          "phase": "descend"
        }
      ]
    },
    {
      "seed": 9110,
      "evaluation_job_id": "128565",
      "steps": 5000,
      "success": false,
      "all_currently_matching": false,
      "assembled_count": 2,
      "required_count": 3,
      "error": null,
      "elapsed_s": 322.95,
      "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": {
          "stool_seat": [
            0.5910083055496216,
            0.009569978341460228,
            -2.9802322387695312e-08,
            0.4611266255378723,
            -0.5360620021820068,
            -0.5360621213912964,
            0.4611259400844574
          ],
          "stool_leg1": [
            0.46816129982471466,
            -0.10255555063486099,
            0.0022330284118652344,
            0.7254067659378052,
            0.6883203387260437,
            -9.314271665061824e-08,
            5.999153245284106e-07
          ],
          "stool_leg2": [
            0.48242269456386566,
            -0.01165757980197668,
            0.0022329986095428467,
            0.7522064447402954,
            0.6589275002479553,
            -7.380909750054343e-08,
            1.9090470004812232e-07
          ],
          "stool_leg3": [
            0.4902660995721817,
            0.10524170100688934,
            0.0022330284118652344,
            0.7514174580574036,
            0.6598270535469055,
            -5.325173901837843e-07,
            1.0006080941593609e-07
          ]
        }
      },
      "final": {
        "step": 5000,
        "ee_position": [
          0.5480486154556274,
          0.13354815542697906,
          0.08866897225379944
        ],
        "ee_quaternion": [
          -0.2050311267375946,
          0.9787549376487732,
          0.0007348302169702947,
          -0.000702225195709616
        ],
        "joints": [
          -0.05926954746246338,
          0.45205309987068176,
          0.28696075081825256,
          -2.16119122505188,
          -0.23279212415218353,
          2.5834171772003174,
          -2.3703441619873047
        ],
        "gripper_width": 0.06499999761581421,
        "parts": {
          "stool_seat": [
            0.6213922798633575,
            0.02166842110455036,
            0.0,
            0.5274408459663391,
            -0.4709611237049103,
            -0.47096192836761475,
            0.5274434685707092
          ],
          "stool_leg1": [
            0.6459165215492249,
            -0.011256683617830276,
            0.045195817947387695,
            -0.31334227323532104,
            -0.6338908076286316,
            -0.6339491009712219,
            -0.3132212162017822
          ],
          "stool_leg2": [
            0.5807610154151917,
            0.015585822984576225,
            0.0451967716217041,
            -0.7029853463172913,
            -0.0760626569390297,
            -0.07599569857120514,
            -0.7030296325683594
          ],
          "stool_leg3": [
            0.5381327420473099,
            0.1298227608203888,
            0.0027679800987243652,
            2.982326918754552e-08,
            -7.088657127951592e-08,
            0.5448068380355835,
            -0.838561475276947
          ]
        }
      },
      "diagnostics": [
        {
          "pair": [
            "stool_seat",
            "stool_leg1"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0005679710803994917,
            "rotation_error_deg": 0.9274661716261242
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg2"
          ],
          "latched": true,
          "currently_matching": true,
          "nearest": {
            "position_error_m": 0.0015623372532644522,
            "rotation_error_deg": 5.869274429630494
          }
        },
        {
          "pair": [
            "stool_seat",
            "stool_leg3"
          ],
          "latched": false,
          "currently_matching": false,
          "nearest": {
            "position_error_m": 0.12781945091270283,
            "rotation_error_deg": 110.4648467536079
          }
        }
      ],
      "phases": [
        {
          "step": 3602,
          "phase": "select"
        },
        {
          "step": 3603,
          "phase": "screw_clear"
        },
        {
          "step": 3604,
          "phase": "screw_above"
        },
        {
          "step": 3705,
          "phase": "recover_lift"
        },
        {
          "step": 3710,
          "phase": "select"
        },
        {
          "step": 3711,
          "phase": "unwind_lift"
        },
        {
          "step": 3718,
          "phase": "unwind_turn"
        },
        {
          "step": 3879,
          "phase": "select"
        },
        {
          "step": 3880,
          "phase": "screw_clear"
        },
        {
          "step": 3881,
          "phase": "screw_above"
        },
        {
          "step": 3944,
          "phase": "screw_down"
        },
        {
          "step": 3957,
          "phase": "screw_close"
        },
        {
          "step": 3969,
          "phase": "screw_turn"
        },
        {
          "step": 4004,
          "phase": "screw_open"
        },
        {
          "step": 4011,
          "phase": "retreat"
        },
        {
          "step": 4021,
          "phase": "select"
        },
        {
          "step": 4022,
          "phase": "verify"
        },
        {
          "step": 4030,
          "phase": "select"
        },
        {
          "step": 4031,
          "phase": "pickup_clear"
        },
        {
          "step": 4032,
          "phase": "pregrasp"
        },
        {
          "step": 4068,
          "phase": "descend"
        },
        {
          "step": 4169,
          "phase": "recover_lift"
        },
        {
          "step": 4181,
          "phase": "select"
        },
        {
          "step": 4182,
          "phase": "pickup_clear"
        },
        {
          "step": 4183,
          "phase": "pregrasp"
        },
        {
          "step": 4249,
          "phase": "recover_lift"
        },
        {
          "step": 4254,
          "phase": "select"
        },
        {
          "step": 4255,
          "phase": "pickup_clear"
        },
        {
          "step": 4256,
          "phase": "pregrasp"
        },
        {
          "step": 4275,
          "phase": "descend"
        },
        {
          "step": 4376,
          "phase": "recover_lift"
        },
        {
          "step": 4388,
          "phase": "select"
        },
        {
          "step": 4389,
          "phase": "pickup_clear"
        },
        {
          "step": 4390,
          "phase": "pregrasp"
        },
        {
          "step": 4391,
          "phase": "descend"
        },
        {
          "step": 4492,
          "phase": "recover_lift"
        },
        {
          "step": 4504,
          "phase": "select"
        },
        {
          "step": 4505,
          "phase": "pickup_clear"
        },
        {
          "step": 4506,
          "phase": "pregrasp"
        },
        {
          "step": 4507,
          "phase": "descend"
        },
        {
          "step": 4608,
          "phase": "recover_lift"
        },
        {
          "step": 4620,
          "phase": "select"
        },
        {
          "step": 4621,
          "phase": "pickup_clear"
        },
        {
          "step": 4622,
          "phase": "pregrasp"
        },
        {
          "step": 4623,
          "phase": "descend"
        },
        {
          "step": 4724,
          "phase": "recover_lift"
        },
        {
          "step": 4736,
          "phase": "select"
        },
        {
          "step": 4737,
          "phase": "pickup_clear"
        },
        {
          "step": 4738,
          "phase": "pregrasp"
        },
        {
          "step": 4739,
          "phase": "descend"
        },
        {
          "step": 4840,
          "phase": "recover_lift"
        },
        {
          "step": 4852,
          "phase": "select"
        },
        {
          "step": 4853,
          "phase": "pickup_clear"
        },
        {
          "step": 4854,
          "phase": "pregrasp"
        },
        {
          "step": 4855,
          "phase": "descend"
        },
        {
          "step": 4956,
          "phase": "recover_lift"
        },
        {
          "step": 4968,
          "phase": "select"
        },
        {
          "step": 4969,
          "phase": "pickup_clear"
        },
        {
          "step": 4970,
          "phase": "pregrasp"
        },
        {
          "step": 4971,
          "phase": "descend"
        }
      ]
    }
  ],
  "completed": true,
  "successes": 0
}