{
  "requested_episodes": 64,
  "completed_episodes": 64,
  "unfinished_episodes": 0,
  "complete": true,
  "success_rate": 1.0,
  "completed_only": {
    "episodes": 64,
    "successes": 64.0,
    "success_rate": 1.0,
    "high_success_rate": 1.0,
    "lift_rates": {
      "0.02": 1.0,
      "0.05": 1.0,
      "0.1": 1.0,
      "0.15": 1.0
    },
    "mean_peak_lift_m": 0.17473799269646406,
    "drop_rate": 0.0,
    "invalid_episode_rate": 0.0
  },
  "matrix": [
    {
      "dr_scale": 0.05,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "episodes": 64,
      "successes": 64.0,
      "success_rate": 1.0,
      "high_success_rate": 1.0,
      "lift_rates": {
        "0.02": 1.0,
        "0.05": 1.0,
        "0.1": 1.0,
        "0.15": 1.0
      },
      "mean_peak_lift_m": 0.17473799269646406,
      "drop_rate": 0.0,
      "invalid_episode_rate": 0.0
    }
  ],
  "episodes": [
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17559152841567993,
      "best_hold_s": 11.189000129699707,
      "best_high_hold_s": 10.45300006866455,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005089822807349265,
      "max_joint_speed": 0.3274976909160614,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.024057194590568542,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.892696380615234,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8425333499908447,
      "world": 0,
      "bottle_local_xy": [
        0.15505552291870117,
        -0.12338723987340927
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17562437057495117,
      "best_hold_s": 11.308000564575195,
      "best_high_hold_s": 10.585000038146973,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005167126655578613,
      "max_joint_speed": 0.3304884433746338,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023423604667186737,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.202327728271484,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492666482925415,
      "world": 1,
      "bottle_local_xy": [
        0.1624918282032013,
        -0.12740103900432587
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17421680688858032,
      "best_hold_s": 11.372000694274902,
      "best_high_hold_s": 10.6510009765625,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005113434162922204,
      "max_joint_speed": 0.30483755469322205,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023402133956551552,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.364959716796875,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8525333404541016,
      "world": 2,
      "bottle_local_xy": [
        0.16394715011119843,
        -0.12378808856010437
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17519426345825195,
      "best_hold_s": 11.042000770568848,
      "best_high_hold_s": 10.279000282287598,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005069843609817326,
      "max_joint_speed": 0.3275225758552551,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023659301921725273,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.60626983642578,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8357999920845032,
      "world": 3,
      "bottle_local_xy": [
        0.183625265955925,
        -0.12408974021673203
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17566996812820435,
      "best_hold_s": 11.219000816345215,
      "best_high_hold_s": 10.497000694274902,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005134869716130197,
      "max_joint_speed": 0.3288286626338959,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02390114776790142,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.99687576293945,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8424000144004822,
      "world": 4,
      "bottle_local_xy": [
        0.17442595958709717,
        -0.12256763875484467
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17439013719558716,
      "best_hold_s": 11.317000389099121,
      "best_high_hold_s": 10.596000671386719,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005104726296849549,
      "max_joint_speed": 0.2958054542541504,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023070622235536575,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.284671783447266,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8493333458900452,
      "world": 5,
      "bottle_local_xy": [
        0.16365014016628265,
        -0.125845268368721
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17428594827651978,
      "best_hold_s": 11.317000389099121,
      "best_high_hold_s": 10.596000671386719,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005169838550500572,
      "max_joint_speed": 0.29774174094200134,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023882100358605385,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.21162033081055,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492000102996826,
      "world": 6,
      "bottle_local_xy": [
        0.15963983535766602,
        -0.12275182455778122
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17540496587753296,
      "best_hold_s": 11.246000289916992,
      "best_high_hold_s": 10.517000198364258,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005142143345437944,
      "max_joint_speed": 0.2999872863292694,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023404765874147415,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.08003616333008,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8460000157356262,
      "world": 7,
      "bottle_local_xy": [
        0.18043476343154907,
        -0.12997493147850037
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17370063066482544,
      "best_hold_s": 11.237000465393066,
      "best_high_hold_s": 10.500000953674316,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000516160624101758,
      "max_joint_speed": 0.33144229650497437,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02342328056693077,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.08891296386719,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8460000157356262,
      "world": 8,
      "bottle_local_xy": [
        0.17679256200790405,
        -0.13148373365402222
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17415910959243774,
      "best_hold_s": 11.231000900268555,
      "best_high_hold_s": 10.488000869750977,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005071163177490234,
      "max_joint_speed": 0.3325847089290619,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02369716949760914,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.03642654418945,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8457333445549011,
      "world": 9,
      "bottle_local_xy": [
        0.18427781760692596,
        -0.12064629793167114
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17429786920547485,
      "best_hold_s": 10.842000961303711,
      "best_high_hold_s": 10.664000511169434,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005137920379638672,
      "max_joint_speed": 0.30096739530563354,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022895466536283493,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.44296646118164,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8524666428565979,
      "world": 10,
      "bottle_local_xy": [
        0.1545281857252121,
        -0.13201619684696198
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1761249303817749,
      "best_hold_s": 11.322000503540039,
      "best_high_hold_s": 10.608000755310059,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005134863895364106,
      "max_joint_speed": 0.2972884476184845,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023194901645183563,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.255340576171875,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492000102996826,
      "world": 11,
      "bottle_local_xy": [
        0.17662659287452698,
        -0.1245516762137413
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17342627048492432,
      "best_hold_s": 11.32300090789795,
      "best_high_hold_s": 10.609000205993652,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005183815956115723,
      "max_joint_speed": 0.29733553528785706,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02331278659403324,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.29267120361328,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.849399983882904,
      "world": 12,
      "bottle_local_xy": [
        0.1574251651763916,
        -0.12747669219970703
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1746038794517517,
      "best_hold_s": 11.475000381469727,
      "best_high_hold_s": 10.765000343322754,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005140124121680856,
      "max_joint_speed": 0.3006478250026703,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023378079757094383,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.539424896240234,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8592666387557983,
      "world": 13,
      "bottle_local_xy": [
        0.17562426626682281,
        -0.1254892647266388
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17539876699447632,
      "best_hold_s": 11.21500015258789,
      "best_high_hold_s": 10.462000846862793,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000517725944519043,
      "max_joint_speed": 0.33221304416656494,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023888379335403442,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.92942810058594,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8456666469573975,
      "world": 14,
      "bottle_local_xy": [
        0.16616907715797424,
        -0.11674975603818893
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17579811811447144,
      "best_hold_s": 11.293000221252441,
      "best_high_hold_s": 10.567000389099121,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005140821449458599,
      "max_joint_speed": 0.3272866904735565,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022990575060248375,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.195823669433594,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8493333458900452,
      "world": 15,
      "bottle_local_xy": [
        0.17419062554836273,
        -0.12430097162723541
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17564022541046143,
      "best_hold_s": 11.437000274658203,
      "best_high_hold_s": 10.733000755310059,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005100123817101121,
      "max_joint_speed": 0.3090974688529968,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023206617683172226,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.50063705444336,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8558666706085205,
      "world": 16,
      "bottle_local_xy": [
        0.16446249186992645,
        -0.12859196960926056
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17428719997406006,
      "best_hold_s": 11.290000915527344,
      "best_high_hold_s": 10.5600004196167,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005153680685907602,
      "max_joint_speed": 0.3277154266834259,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02341521345078945,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.16575622558594,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.849399983882904,
      "world": 17,
      "bottle_local_xy": [
        0.16450464725494385,
        -0.12006191164255142
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1745890974998474,
      "best_hold_s": 11.430000305175781,
      "best_high_hold_s": 10.719000816345215,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005133253871463239,
      "max_joint_speed": 0.30090755224227905,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023017918691039085,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.50395965576172,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8560666441917419,
      "world": 18,
      "bottle_local_xy": [
        0.16804108023643494,
        -0.12362434715032578
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17613309621810913,
      "best_hold_s": 11.534000396728516,
      "best_high_hold_s": 10.832000732421875,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005103945732116699,
      "max_joint_speed": 0.30972886085510254,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02300345152616501,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.68734359741211,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8625333309173584,
      "world": 19,
      "bottle_local_xy": [
        0.16265006363391876,
        -0.13013575971126556
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17626792192459106,
      "best_hold_s": 11.199000358581543,
      "best_high_hold_s": 10.471000671386719,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000507951423060149,
      "max_joint_speed": 0.32638832926750183,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023644573986530304,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.94913864135742,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8424666523933411,
      "world": 20,
      "bottle_local_xy": [
        0.1805889904499054,
        -0.12348400056362152
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17593777179718018,
      "best_hold_s": 11.320000648498535,
      "best_high_hold_s": 10.605000495910645,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005114197847433388,
      "max_joint_speed": 0.2956031560897827,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023744827136397362,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.20555114746094,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8489999771118164,
      "world": 21,
      "bottle_local_xy": [
        0.16678045690059662,
        -0.12703590095043182
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1749858260154724,
      "best_hold_s": 11.224000930786133,
      "best_high_hold_s": 10.475000381469727,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000517427921295166,
      "max_joint_speed": 0.3273997902870178,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023517491295933723,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.9840087890625,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8460000157356262,
      "world": 22,
      "bottle_local_xy": [
        0.16216666996479034,
        -0.11515754461288452
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1743866205215454,
      "best_hold_s": 11.177000999450684,
      "best_high_hold_s": 10.427000045776367,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005090807098895311,
      "max_joint_speed": 0.3211238980293274,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022748196497559547,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.98694610595703,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8426666855812073,
      "world": 23,
      "bottle_local_xy": [
        0.1707679033279419,
        -0.11735376715660095
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17638945579528809,
      "best_hold_s": 11.271000862121582,
      "best_high_hold_s": 10.556000709533691,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005108952173031867,
      "max_joint_speed": 0.3012869656085968,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02353593148291111,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.1199836730957,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8458666801452637,
      "world": 24,
      "bottle_local_xy": [
        0.17055578529834747,
        -0.12933063507080078
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17303389310836792,
      "best_hold_s": 11.297000885009766,
      "best_high_hold_s": 10.571000099182129,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000513849314302206,
      "max_joint_speed": 0.32617393136024475,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022617461159825325,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.300804138183594,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.849399983882904,
      "world": 25,
      "bottle_local_xy": [
        0.1733570247888565,
        -0.12451056391000748
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17414575815200806,
      "best_hold_s": 11.379000663757324,
      "best_high_hold_s": 10.666000366210938,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005106925964355469,
      "max_joint_speed": 0.30236342549324036,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02338450588285923,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.39414596557617,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8525333404541016,
      "world": 26,
      "bottle_local_xy": [
        0.16789162158966064,
        -0.12939883768558502
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17394119501113892,
      "best_hold_s": 11.244000434875488,
      "best_high_hold_s": 10.515000343322754,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005027836305089295,
      "max_joint_speed": 0.33405083417892456,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02357192151248455,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.091590881347656,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8459333181381226,
      "world": 27,
      "bottle_local_xy": [
        0.17344245314598083,
        -0.12098173052072525
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17421865463256836,
      "best_hold_s": 11.31100082397461,
      "best_high_hold_s": 10.589000701904297,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000517725944519043,
      "max_joint_speed": 0.30126574635505676,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.0221599992364645,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.37601852416992,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492000102996826,
      "world": 28,
      "bottle_local_xy": [
        0.1647183746099472,
        -0.11561336368322372
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17422926425933838,
      "best_hold_s": 11.37600040435791,
      "best_high_hold_s": 10.66200065612793,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005141788860782981,
      "max_joint_speed": 0.3029171824455261,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022279413416981697,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.50542449951172,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8525999784469604,
      "world": 29,
      "bottle_local_xy": [
        0.15755273401737213,
        -0.1309068500995636
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17460203170776367,
      "best_hold_s": 11.338000297546387,
      "best_high_hold_s": 10.609000205993652,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005049355677329004,
      "max_joint_speed": 0.322668194770813,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022721996530890465,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.33641815185547,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8526666760444641,
      "world": 30,
      "bottle_local_xy": [
        0.17688411474227905,
        -0.11928258836269379
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1756536364555359,
      "best_hold_s": 11.248000144958496,
      "best_high_hold_s": 10.520000457763672,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000507084303535521,
      "max_joint_speed": 0.3297094702720642,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022846248000860214,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.130645751953125,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8460000157356262,
      "world": 31,
      "bottle_local_xy": [
        0.1769898235797882,
        -0.11688437312841415
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17539429664611816,
      "best_hold_s": 11.316000938415527,
      "best_high_hold_s": 10.595000267028809,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005113596562296152,
      "max_joint_speed": 0.2973928451538086,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02298841066658497,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.26724624633789,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.849399983882904,
      "world": 32,
      "bottle_local_xy": [
        0.16494092345237732,
        -0.12327325344085693
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17436593770980835,
      "best_hold_s": 11.312000274658203,
      "best_high_hold_s": 10.59000015258789,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005138941342011094,
      "max_joint_speed": 0.2986656129360199,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02358335070312023,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.22386169433594,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492666482925415,
      "world": 33,
      "bottle_local_xy": [
        0.1815664917230606,
        -0.1259549856185913
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17533427476882935,
      "best_hold_s": 11.201000213623047,
      "best_high_hold_s": 10.473000526428223,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005089815240353346,
      "max_joint_speed": 0.32800525426864624,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023723438382148743,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.96762466430664,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8425333499908447,
      "world": 34,
      "bottle_local_xy": [
        0.17602235078811646,
        -0.12953974306583405
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1754601001739502,
      "best_hold_s": 11.29900074005127,
      "best_high_hold_s": 10.574000358581543,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005117034888826311,
      "max_joint_speed": 0.33068856596946716,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023476697504520416,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.172454833984375,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492666482925415,
      "world": 35,
      "bottle_local_xy": [
        0.1718326061964035,
        -0.1288474053144455
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1743273138999939,
      "best_hold_s": 11.176000595092773,
      "best_high_hold_s": 10.428000450134277,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005133008817210793,
      "max_joint_speed": 0.32055360078811646,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022412622347474098,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.03205108642578,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8424666523933411,
      "world": 36,
      "bottle_local_xy": [
        0.16177934408187866,
        -0.1170789897441864
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17552083730697632,
      "best_hold_s": 11.235000610351562,
      "best_high_hold_s": 10.494000434875488,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005128567572683096,
      "max_joint_speed": 0.32854127883911133,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023242687806487083,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.03977584838867,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8460000157356262,
      "world": 37,
      "bottle_local_xy": [
        0.16390368342399597,
        -0.11713987588882446
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17451953887939453,
      "best_hold_s": 11.293000221252441,
      "best_high_hold_s": 10.566000938415527,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005111693753860891,
      "max_joint_speed": 0.33175620436668396,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023648783564567566,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.152503967285156,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8493333458900452,
      "world": 38,
      "bottle_local_xy": [
        0.1879306584596634,
        -0.1162370890378952
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1757110357284546,
      "best_hold_s": 11.42300033569336,
      "best_high_hold_s": 10.709000587463379,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005157265113666654,
      "max_joint_speed": 0.3268527090549469,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023282455280423164,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.4399528503418,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8557999730110168,
      "world": 39,
      "bottle_local_xy": [
        0.16971777379512787,
        -0.12446563690900803
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17579972743988037,
      "best_hold_s": 11.429000854492188,
      "best_high_hold_s": 10.720000267028809,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000510412675794214,
      "max_joint_speed": 0.30205243825912476,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02264193817973137,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.53343200683594,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8557999730110168,
      "world": 40,
      "bottle_local_xy": [
        0.1702953577041626,
        -0.13105963170528412
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.174235999584198,
      "best_hold_s": 11.358000755310059,
      "best_high_hold_s": 10.630000114440918,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005134868551976979,
      "max_joint_speed": 0.30298522114753723,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023032967001199722,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.351627349853516,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8526666760444641,
      "world": 41,
      "bottle_local_xy": [
        0.17509451508522034,
        -0.12299907952547073
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17554610967636108,
      "best_hold_s": 11.382000923156738,
      "best_high_hold_s": 10.67300033569336,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005089937476441264,
      "max_joint_speed": 0.30599740147590637,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02327485755085945,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.389610290527344,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8526666760444641,
      "world": 42,
      "bottle_local_xy": [
        0.17764782905578613,
        -0.13075855374336243
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1738719940185547,
      "best_hold_s": 11.257000923156738,
      "best_high_hold_s": 10.529000282287598,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005118981353007257,
      "max_joint_speed": 0.29769599437713623,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02279076538980007,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.19881057739258,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8459333181381226,
      "world": 43,
      "bottle_local_xy": [
        0.17339803278446198,
        -0.12918314337730408
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1739668846130371,
      "best_hold_s": 11.331000328063965,
      "best_high_hold_s": 10.595000267028809,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005111003411002457,
      "max_joint_speed": 0.3071802258491516,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02306261844933033,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.29401397705078,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8525999784469604,
      "world": 44,
      "bottle_local_xy": [
        0.16813090443611145,
        -0.12596188485622406
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17409992218017578,
      "best_hold_s": 11.421000480651855,
      "best_high_hold_s": 10.70300006866455,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005142383743077517,
      "max_joint_speed": 0.3278372883796692,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023616449907422066,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.42184066772461,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8559333086013794,
      "world": 45,
      "bottle_local_xy": [
        0.15783080458641052,
        -0.13116149604320526
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17438232898712158,
      "best_hold_s": 11.42400074005127,
      "best_high_hold_s": 10.710000038146973,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000511703547090292,
      "max_joint_speed": 0.3290208876132965,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02383742667734623,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.41060256958008,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.855733335018158,
      "world": 46,
      "bottle_local_xy": [
        0.1721520572900772,
        -0.12938730418682098
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17441463470458984,
      "best_hold_s": 11.208000183105469,
      "best_high_hold_s": 10.481000900268555,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005117189139127731,
      "max_joint_speed": 0.3268537223339081,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023456590250134468,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.030731201171875,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8424666523933411,
      "world": 47,
      "bottle_local_xy": [
        0.17208196222782135,
        -0.1265413910150528
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17344671487808228,
      "best_hold_s": 11.398000717163086,
      "best_high_hold_s": 10.671000480651855,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005031969049014151,
      "max_joint_speed": 0.32302913069725037,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02328593283891678,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.39981460571289,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8557999730110168,
      "world": 48,
      "bottle_local_xy": [
        0.17755082249641418,
        -0.12220893055200577
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17530220746994019,
      "best_hold_s": 11.363000869750977,
      "best_high_hold_s": 10.635000228881836,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005110990023240447,
      "max_joint_speed": 0.3028971254825592,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02352464199066162,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.29850769042969,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8525999784469604,
      "world": 49,
      "bottle_local_xy": [
        0.1666538119316101,
        -0.12453708052635193
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17295604944229126,
      "best_hold_s": 11.27400016784668,
      "best_high_hold_s": 10.527000427246094,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005063492571935058,
      "max_joint_speed": 0.32643961906433105,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02264443226158619,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.22193908691406,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.849399983882904,
      "world": 50,
      "bottle_local_xy": [
        0.18206222355365753,
        -0.11988721787929535
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17658698558807373,
      "best_hold_s": 11.196000099182129,
      "best_high_hold_s": 10.468000411987305,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005201196763664484,
      "max_joint_speed": 0.326896071434021,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023659324273467064,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 36.9375,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8425999879837036,
      "world": 51,
      "bottle_local_xy": [
        0.1878741830587387,
        -0.1235586404800415
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17607802152633667,
      "best_hold_s": 11.371000289916992,
      "best_high_hold_s": 10.647000312805176,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005170106305740774,
      "max_joint_speed": 0.3076959550380707,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023128334432840347,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.350460052490234,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8525999784469604,
      "world": 52,
      "bottle_local_xy": [
        0.1594991534948349,
        -0.12254346162080765
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17386281490325928,
      "best_hold_s": 11.302000999450684,
      "best_high_hold_s": 10.57800006866455,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005141537985764444,
      "max_joint_speed": 0.29867279529571533,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023095043376088142,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.24468231201172,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8494666814804077,
      "world": 53,
      "bottle_local_xy": [
        0.1865348219871521,
        -0.12831883132457733
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17533624172210693,
      "best_hold_s": 11.280000686645508,
      "best_high_hold_s": 10.539000511169434,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005057394155301154,
      "max_joint_speed": 0.32831624150276184,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023286109790205956,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.13475036621094,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492666482925415,
      "world": 54,
      "bottle_local_xy": [
        0.18142232298851013,
        -0.11987635493278503
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17260009050369263,
      "best_hold_s": 11.308000564575195,
      "best_high_hold_s": 10.585000038146973,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005135294049978256,
      "max_joint_speed": 0.298127681016922,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022446556016802788,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.366973876953125,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492666482925415,
      "world": 55,
      "bottle_local_xy": [
        0.1718844324350357,
        -0.12102960795164108
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1744629144668579,
      "best_hold_s": 11.306000709533691,
      "best_high_hold_s": 10.582000732421875,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005102259456180036,
      "max_joint_speed": 0.3310619592666626,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02338492125272751,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.22844314575195,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.849133312702179,
      "world": 56,
      "bottle_local_xy": [
        0.15486304461956024,
        -0.11853132396936417
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1742447018623352,
      "best_hold_s": 11.316000938415527,
      "best_high_hold_s": 10.595000267028809,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000515282095875591,
      "max_joint_speed": 0.29882222414016724,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02317153848707676,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.2753791809082,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492666482925415,
      "world": 57,
      "bottle_local_xy": [
        0.1788870096206665,
        -0.1274743229150772
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1736888885498047,
      "best_hold_s": 11.282000541687012,
      "best_high_hold_s": 10.541000366210938,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005049942410551012,
      "max_joint_speed": 0.2995256781578064,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02264374867081642,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.23583221435547,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.849399983882904,
      "world": 58,
      "bottle_local_xy": [
        0.17777781188488007,
        -0.1199587807059288
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1755605936050415,
      "best_hold_s": 11.242000579833984,
      "best_high_hold_s": 10.51400089263916,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005150690558366477,
      "max_joint_speed": 0.331657350063324,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023267896845936775,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.09117889404297,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8458666801452637,
      "world": 59,
      "bottle_local_xy": [
        0.15793412923812866,
        -0.11553744971752167
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17349350452423096,
      "best_hold_s": 11.407000541687012,
      "best_high_hold_s": 10.679000854492188,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005135294632054865,
      "max_joint_speed": 0.3240826725959778,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.0226755291223526,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.48698425292969,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8560666441917419,
      "world": 60,
      "bottle_local_xy": [
        0.17170946300029755,
        -0.12076114118099213
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17334508895874023,
      "best_hold_s": 11.280000686645508,
      "best_high_hold_s": 10.539000511169434,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.000513787439558655,
      "max_joint_speed": 0.3251579701900482,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.022936245426535606,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.21462631225586,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492000102996826,
      "world": 61,
      "bottle_local_xy": [
        0.17148584127426147,
        -0.12311092764139175
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.1738932728767395,
      "best_hold_s": 11.22700023651123,
      "best_high_hold_s": 10.480000495910645,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005065202713012695,
      "max_joint_speed": 0.33174431324005127,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.023622998967766762,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.01274871826172,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8459333181381226,
      "world": 62,
      "bottle_local_xy": [
        0.18693320453166962,
        -0.12662187218666077
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    },
    {
      "success": 1.0,
      "high_success": 1.0,
      "max_clearance": 0.17509329319000244,
      "best_hold_s": 11.32800006866455,
      "best_high_hold_s": 10.622000694274902,
      "ever_lifted": 1.0,
      "ever_dropped": 0.0,
      "ever_bad_contact": 0.0,
      "max_penetration": 0.0005117792752571404,
      "max_joint_speed": 0.2995603680610657,
      "max_force_ratio": 1.0,
      "nonfinite": 0.0,
      "elapsed_s": 15.000000953674316,
      "physics_overflow_bits": 0,
      "final_goal_error_m": 0.02329629473388195,
      "initial_layout_footprint_overlap": 0.0,
      "return_": 37.30010986328125,
      "dr_scale": 0.05000000074505806,
      "bilateral_fraction": 0.8492666482925415,
      "world": 63,
      "bottle_local_xy": [
        0.174989253282547,
        -0.1316373646259308
      ],
      "terminated": false,
      "timeout": true,
      "bottle_x_bin": 2,
      "bottle_y_bin": 0,
      "invalid": false
    }
  ],
  "command": "evaluate",
  "vector_steps": 300,
  "seconds": 81.97240215726197,
  "policy": "supplied callable (CLI without checkpoint uses zero Cartesian action/open gripper)",
  "num_envs": 64,
  "contract": {
    "version": "mjlab-gs-cartesian-v4",
    "observation_mode": "state",
    "controller": "gpu-differential-ik",
    "arm_bias_compensation": true,
    "state_dim": 37,
    "goal_dim": 0,
    "goal_frame": "object-to-goal in robot/base; embedded in state",
    "action_dim": 7,
    "action_frame": "robot/base",
    "translation_m_per_step": 0.005,
    "rotation_rad_per_step": 0.017453292519943295,
    "gripper": "-1 closed; +1 open",
    "physics_dt": 0.001,
    "control_dt": 0.05,
    "rgb_shape": null,
    "rgb_dtype": null,
    "assets_manifest_sha256": "8eb22a0ebbc461bb728c2e2a0b601d6737a3fa3fd972dcbf2270d5cdabef9de0",
    "scene_sha256": "5be735fd530a190e8e287538ce232b101458b211d2990c03e6a1493d6a424dd7",
    "controller_details": {
      "ik_max_dq_rad": 0.02,
      "ik_delta_clip": "uniform direction-preserving",
      "joint_target_period_s": 0.008,
      "ik_damping": 0.005,
      "ik_orientation_weight": 0.2
    }
  },
  "task_spec": {
    "version": "bottle-lift-v5",
    "visual_actor_profile": null,
    "task_id": "Mjlab-GS-Bottle-UR5-State",
    "observation_mode": "state",
    "observations": {
      "actor": {
        "terms": {
          "joint_pos": {
            "func": "mjlab.envs.mdp.observations.joint_pos_rel",
            "params": {},
            "noise": {
              "operation": "add",
              "_tensor_cache": {},
              "n_min": -0.01,
              "n_max": 0.01
            },
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          },
          "joint_vel": {
            "func": "mjlab.envs.mdp.observations.joint_vel_rel",
            "params": {},
            "noise": {
              "operation": "add",
              "_tensor_cache": {},
              "n_min": -0.05,
              "n_max": 0.05
            },
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          },
          "ee_to_cube": {
            "func": "mjlab.tasks.manipulation.mdp.observations.ee_to_object_distance",
            "params": {
              "object_name": "bottle",
              "asset_cfg": {
                "name": "robot",
                "joint_names": null,
                "joint_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "body_names": null,
                "body_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "geom_names": null,
                "geom_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "site_names": [
                  "tcp"
                ],
                "site_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "actuator_names": null,
                "actuator_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "tendon_names": null,
                "tendon_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "camera_names": null,
                "camera_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "light_names": null,
                "light_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "material_names": null,
                "material_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "texture_names": null,
                "texture_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "pair_names": null,
                "pair_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "preserve_order": false
              }
            },
            "noise": {
              "operation": "add",
              "_tensor_cache": {},
              "n_min": -0.002,
              "n_max": 0.002
            },
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          },
          "cube_to_goal": {
            "func": "mjlab.tasks.manipulation.mdp.observations.object_to_goal_distance",
            "params": {
              "object_name": "bottle",
              "command_name": "lift_height"
            },
            "noise": {
              "operation": "add",
              "_tensor_cache": {},
              "n_min": -0.002,
              "n_max": 0.002
            },
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          },
          "actions": {
            "func": "mjlab.envs.mdp.observations.last_action",
            "params": {},
            "noise": null,
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          }
        },
        "concatenate_terms": true,
        "concatenate_dim": -1,
        "enable_corruption": false,
        "history_length": null,
        "flatten_history_dim": true,
        "nan_policy": "disabled",
        "nan_check_per_term": true
      },
      "critic": {
        "terms": {
          "joint_pos": {
            "func": "mjlab.envs.mdp.observations.joint_pos_rel",
            "params": {},
            "noise": {
              "operation": "add",
              "_tensor_cache": {},
              "n_min": -0.01,
              "n_max": 0.01
            },
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          },
          "joint_vel": {
            "func": "mjlab.envs.mdp.observations.joint_vel_rel",
            "params": {},
            "noise": {
              "operation": "add",
              "_tensor_cache": {},
              "n_min": -0.05,
              "n_max": 0.05
            },
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          },
          "ee_to_cube": {
            "func": "mjlab.tasks.manipulation.mdp.observations.ee_to_object_distance",
            "params": {
              "object_name": "bottle",
              "asset_cfg": {
                "name": "robot",
                "joint_names": null,
                "joint_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "body_names": null,
                "body_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "geom_names": null,
                "geom_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "site_names": [
                  "tcp"
                ],
                "site_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "actuator_names": null,
                "actuator_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "tendon_names": null,
                "tendon_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "camera_names": null,
                "camera_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "light_names": null,
                "light_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "material_names": null,
                "material_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "texture_names": null,
                "texture_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "pair_names": null,
                "pair_ids": {
                  "slice": [
                    null,
                    null,
                    null
                  ]
                },
                "preserve_order": false
              }
            },
            "noise": {
              "operation": "add",
              "_tensor_cache": {},
              "n_min": -0.002,
              "n_max": 0.002
            },
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          },
          "cube_to_goal": {
            "func": "mjlab.tasks.manipulation.mdp.observations.object_to_goal_distance",
            "params": {
              "object_name": "bottle",
              "command_name": "lift_height"
            },
            "noise": {
              "operation": "add",
              "_tensor_cache": {},
              "n_min": -0.002,
              "n_max": 0.002
            },
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          },
          "actions": {
            "func": "mjlab.envs.mdp.observations.last_action",
            "params": {},
            "noise": null,
            "clip": null,
            "scale": null,
            "delay_min_lag": 0,
            "delay_max_lag": 0,
            "delay_per_env": true,
            "delay_hold_prob": 0.0,
            "delay_update_period": 0,
            "delay_per_env_phase": true,
            "history_length": 0,
            "flatten_history_dim": true
          }
        },
        "concatenate_terms": true,
        "concatenate_dim": -1,
        "enable_corruption": false,
        "history_length": null,
        "flatten_history_dim": true,
        "nan_policy": "disabled",
        "nan_check_per_term": true
      }
    },
    "critic_dim": 37,
    "randomization": {
      "enabled": true,
      "nominal_fraction": 0,
      "bottle_edge_margin_m": 0.05,
      "bottle_yaw_deg": 180.0,
      "table_xy_m": 0.15,
      "table_yaw_deg": 15,
      "robot_xy_m": 0.1,
      "robot_yaw_deg": 15,
      "initial_joint_deg": [
        15,
        10,
        10,
        15,
        15,
        30
      ],
      "initial_gripper_open_min": 0.85,
      "camera_xyz_m": 0,
      "camera_rotation_deg": 0,
      "camera_focal_fraction": 0,
      "camera_principal_px": [
        0,
        0
      ],
      "friction_scale": [
        0.7,
        1.3
      ],
      "bottle_mass_scale": [
        0.8,
        1.2
      ],
      "joint_damping_scale": [
        0.8,
        1.2
      ],
      "light_gain": [
        1,
        1
      ],
      "material_gain": [
        1,
        1
      ],
      "exposure_gain": [
        1,
        1
      ],
      "white_balance": [
        1,
        1
      ],
      "image_noise_std_255": 0
    },
    "curriculum": {
      "enabled": false,
      "boundaries": [
        0,
        20000,
        50000,
        100000,
        200000
      ],
      "scales": [
        0.05,
        0.15,
        0.35,
        0.65,
        1.0
      ],
      "evaluation_scale": 0.05
    },
    "objective": {
      "lift_height_m": 0.1,
      "high_lift_height_m": 0.15,
      "hold_s": 2.0,
      "contact_force_n": 0.05,
      "max_hold_linear_speed": 0.15,
      "max_hold_angular_speed": 1.0,
      "max_penetration_m": 0.003,
      "hard_penetration_m": 0.02,
      "max_joint_speed": 1.57,
      "terminate_on_success": false,
      "contact_grace_s": 0.2,
      "capture_metrics": true
    },
    "episode_length_s": 15.0,
    "scale_rewards_by_dt": true,
    "reward_profile": "mjlab-lift-cube-8ee51fbc",
    "goal": {
      "nominal_joint_pos": [
        -3.522548046633501,
        -1.1518142048840005,
        0.9810469344913387,
        -1.4231175467061197,
        -1.5491226335784967,
        -0.36253961360662956
      ],
      "half_width_m": [
        0.05,
        0.05,
        0.03
      ],
      "joint_spread_deg": [
        5.0,
        5.0,
        5.0,
        5.0,
        5.0,
        5.0
      ],
      "candidates": 16
    },
    "goal_frame": "robot/base; nominal TCP FK + bounded reachable joint proposals",
    "goal_observation_dim": 0,
    "rewards": {
      "lift": {
        "func": "mjlab.tasks.manipulation.mdp.rewards.staged_position_reward",
        "params": {
          "command_name": "lift_height",
          "object_name": "bottle",
          "reaching_std": 0.2,
          "bringing_std": 0.3,
          "asset_cfg": {
            "name": "robot",
            "joint_names": null,
            "joint_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "body_names": null,
            "body_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "geom_names": null,
            "geom_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "site_names": [
              "tcp"
            ],
            "site_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "actuator_names": null,
            "actuator_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "tendon_names": null,
            "tendon_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "camera_names": null,
            "camera_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "light_names": null,
            "light_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "material_names": null,
            "material_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "texture_names": null,
            "texture_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "pair_names": null,
            "pair_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "preserve_order": false
          }
        },
        "weight": 1.0
      },
      "lift_precise": {
        "func": "mjlab.tasks.manipulation.mdp.rewards.bring_object_reward",
        "params": {
          "command_name": "lift_height",
          "object_name": "bottle",
          "std": 0.05
        },
        "weight": 1.0
      },
      "action_rate_l2": {
        "func": "mjlab.envs.mdp.rewards.action_rate_l2",
        "params": {},
        "weight": -0.01
      },
      "joint_pos_limits": {
        "func": "mjlab.envs.mdp.rewards.joint_pos_limits",
        "params": {
          "asset_cfg": {
            "name": "robot",
            "joint_names": [
              ".*"
            ],
            "joint_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "body_names": null,
            "body_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "geom_names": null,
            "geom_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "site_names": null,
            "site_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "actuator_names": null,
            "actuator_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "tendon_names": null,
            "tendon_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "camera_names": null,
            "camera_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "light_names": null,
            "light_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "material_names": null,
            "material_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "texture_names": null,
            "texture_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "pair_names": null,
            "pair_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "preserve_order": false
          }
        },
        "weight": -10.0
      },
      "joint_vel_hinge": {
        "func": "mjlab.tasks.manipulation.mdp.rewards.joint_velocity_hinge_penalty",
        "params": {
          "max_vel": 0.5,
          "asset_cfg": {
            "name": "robot",
            "joint_names": [
              ".*"
            ],
            "joint_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "body_names": null,
            "body_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "geom_names": null,
            "geom_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "site_names": null,
            "site_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "actuator_names": null,
            "actuator_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "tendon_names": null,
            "tendon_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "camera_names": null,
            "camera_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "light_names": null,
            "light_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "material_names": null,
            "material_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "texture_names": null,
            "texture_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "pair_names": null,
            "pair_ids": {
              "slice": [
                null,
                null,
                null
              ]
            },
            "preserve_order": false
          }
        },
        "weight": -0.01
      }
    },
    "commands": {
      "lift_height": {
        "resampling_time_range": [
          1000000000.0,
          1000000000.0
        ],
        "debug_vis": true,
        "entity_name": "bottle",
        "success_threshold": 0.05,
        "difficulty": "fixed",
        "target_position_range": {
          "x": [
            0.3,
            0.5
          ],
          "y": [
            -0.2,
            0.2
          ],
          "z": [
            0.2,
            0.4
          ]
        },
        "object_pose_range": null,
        "viz": {
          "target_color": [
            1.0,
            0.5,
            0.0,
            0.3
          ]
        }
      }
    },
    "reward_curriculum": {
      "joint_vel_hinge_weight": {
        "func": "mjlab.envs.mdp.curriculums.reward_curriculum",
        "params": {
          "reward_name": "joint_vel_hinge",
          "stages": [
            {
              "step": 0,
              "weight": -0.01
            },
            {
              "step": 12000,
              "weight": -0.1
            },
            {
              "step": 24000,
              "weight": -1.0
            }
          ]
        }
      }
    }
  },
  "note": "Fixed per-world episode quotas; no IK, reachability, visibility or collision-start rejection. No training.",
  "role": "scripted restricted-DR initialization source; not learned-policy success",
  "seed": 2506,
  "scale": 0.05,
  "filtering": "none; every requested trial and its data retained"
}