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            "target_position_world": [
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            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
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              "7_man": 0.06942050701816277,
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              "3_pin": 0.3002845977675401,
              "5_man": 0.33760268198342275
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            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [],
            "requested_met": false,
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          "snapshots": {
            "60": {
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              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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              "ee_position": [
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              "ee_path_m": 0.606309053237926,
              "joint_path_rad": 5.14960566811308,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 6.933469976516603e-07,
                "placemat": 2.4432529622221112e-05,
                "2_sou": 9.838695713560083e-06,
                "1_man": 1.0839860441585704e-05,
                "7_man": 0.06727001395814966,
                "8_sou": 0.06862638085843593,
                "3_pin": 1.3310790307919157e-05,
                "5_man": 1.268128060939903e-05
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            },
            "100": {
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              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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              "ee_path_m": 1.2950935114513549,
              "joint_path_rad": 12.028805852945078,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
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                "placemat": 4.585869438559547e-05,
                "2_sou": 9.407246349736e-06,
                "1_man": 1.0407380005123926e-05,
                "7_man": 0.06727598702557534,
                "8_sou": 0.06932630371172863,
                "3_pin": 0.049616935843294206,
                "5_man": 0.07236059075754803
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [],
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            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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              "joint_target": [
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              "ee_path_m": 2.54550214209942,
              "joint_path_rad": 22.978926530899145,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
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                "placemat": 8.836464744730216e-05,
                "2_sou": 9.387325748973023e-06,
                "1_man": 1.037305052017177e-05,
                "7_man": 0.06942050701816277,
                "8_sou": 0.1165608866560961,
                "3_pin": 0.3002845977675401,
                "5_man": 0.33760268198342275
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [],
              "requested_met": false,
              "alternative_met": false
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_first_either_goal",
          "requested_entity": "5_man",
          "alternative_entity": "1_man",
          "original_entity": "5_man",
          "initial_physics_sha256": "6cecdd4f18ee496de66b8f265dab0e99ea0f18f409ab6259060fe29e758007dd",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "504516e9957e54e79e19b49cd8f7cefa020707473e133031658af0a93201182f",
          "observation_matches_upstream": true,
          "wall_s": 13.539205496999784,
          "ee_path_m": 2.54550214209942,
          "joint_path_rad": 22.978926530899145,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "8_sou"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 26.5789451419987,
          "compiled_physics_parameters_sha256": "0a1314db7fc97890657084fd6d8c4dd63eb7deb218e735b018ec2c189756fc86",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "paired",
          "condition": "trusted",
          "instruction": "Pick up the mahjong of 7 man",
          "policy_seed": 11,
          "id": "seed11_attribute__select_mahjong_fcf31db92162_A",
          "row": {
            "condition_id": "attribute__select_mahjong|fcf31db92162|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "fcf31db921621aebc37bdb2e9f3d8582222dbc423cd8cfaba6ce9266299e49f8",
            "scene_seed": 1,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed1.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "7 man",
            "alternative_surface": "3 man",
            "requested_entity": "7_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 7 man",
            "source_text": "Pick up the mahjong of 7 man",
            "text_hash_en": "92c752bde606121cc042a44c10cc534fed6375cd97608c6df7b8d89739b9ffea"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 19.691207775002113,
          "original_entity": "7_man"
        },
        {
          "kind": "paired",
          "condition": "trusted",
          "instruction": "Pick up the mahjong of 3 man",
          "policy_seed": 11,
          "id": "seed11_attribute__select_mahjong_fcf31db92162_B",
          "row": {
            "condition_id": "attribute__select_mahjong|fcf31db92162|B|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "fcf31db921621aebc37bdb2e9f3d8582222dbc423cd8cfaba6ce9266299e49f8",
            "scene_seed": 1,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed1.json",
            "builder_seed": null,
            "intent": "B",
            "requested_surface": "3 man",
            "alternative_surface": "7 man",
            "requested_entity": "3_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 3 man",
            "source_text": "Pick up the mahjong of 3 man",
            "text_hash_en": "e640dc1bc3b9141200546fa4fc6e53daa3fcc4f0f64037e273c279852578782c"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 15.630495910001628,
          "original_entity": "7_man"
        },
        {
          "kind": "paired",
          "condition": "blank",
          "instruction": "",
          "donor_state": null,
          "policy_seed": 11,
          "id": "seed11_attribute__select_mahjong_fcf31db92162_blank",
          "row": {
            "condition_id": "attribute__select_mahjong|fcf31db92162|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "fcf31db921621aebc37bdb2e9f3d8582222dbc423cd8cfaba6ce9266299e49f8",
            "scene_seed": 1,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed1.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "7 man",
            "alternative_surface": "3 man",
            "requested_entity": "7_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 7 man",
            "source_text": "Pick up the mahjong of 7 man",
            "text_hash_en": "92c752bde606121cc042a44c10cc534fed6375cd97608c6df7b8d89739b9ffea"
          },
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "placemat": 0.0,
              "3_man": 0.0,
              "5_pin": 0.0,
              "8_sou": 0.0,
              "7_man": 0.0,
              "1_pin": 0.0,
              "5_man": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": [],
            "requested_met": false,
            "alternative_met": false
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.19007933139801025,
              -0.11251314878463747,
              0.9213852870464325
            ],
            "target_euler": [
              3.0200698375701904,
              -0.07437995076179504,
              0.10491448640823364
            ],
            "joint_target": [
              2.3034556559998527,
              2.2797643507979912,
              -1.6492897337010746,
              -2.676860790600954,
              1.7262714355589621,
              0.8322967670863305,
              -4.364522137140489
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.18911471554380888,
              -0.11387711489542911,
              0.9148414727251156
            ],
            "ee_path_m": 3.8453202741335324,
            "joint_path_rad": 30.96763456907736,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.220279765641671e-06,
              "placemat": 0.022558231739986195,
              "3_man": 0.11954448954812308,
              "5_pin": 0.049450250974403025,
              "8_sou": 0.06810042761137086,
              "7_man": 1.2507041067013831e-05,
              "1_pin": 1.2853617633013871e-05,
              "5_man": 1.3625056625476952e-05
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [],
            "requested_met": false,
            "alternative_met": false
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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              "target_euler": [
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              "joint_target": [
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              "ee_path_m": 1.0694772634031355,
              "joint_path_rad": 7.434829807808888,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
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                "placemat": 2.929794963726119e-05,
                "3_man": 0.11952164376892413,
                "5_pin": 0.007572562036308491,
                "8_sou": 1.213816301273809e-05,
                "7_man": 1.1633833230395132e-05,
                "1_pin": 1.1894055702328815e-05,
                "5_man": 1.189012850280374e-05
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "5_pin"
              ],
              "requested_met": false,
              "alternative_met": false
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.15547193586826324,
                0.027338868379592873,
                0.9483643907308579
              ],
              "target_euler": [
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              "joint_target": [
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              "ee_path_m": 1.5122805100628816,
              "joint_path_rad": 13.287587561812694,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 4.884898044228519e-07,
                "placemat": 4.7898778025926834e-05,
                "3_man": 0.11953628637901535,
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                "7_man": 1.2098422270511426e-05,
                "1_pin": 1.2357822451245014e-05,
                "5_man": 1.2346010034678466e-05
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [],
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            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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              "target_euler": [
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              "joint_target": [
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              "gripper": [
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              "ee_position": [
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        {
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        {
          "kind": "paired",
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          "instruction": "Please pick the poker 8 of clubs",
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        {
          "kind": "paired",
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                  {
                    "name": "4_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
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                  "floor_textures": [
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                "instructions": [
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                "conditions": {
                  "contain": {
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                    "container": "placemat"
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                "target_entity": [
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                "target_container": "placemat"
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          },
          "instruction": "Pick up the mahjong of 9 man",
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            "persistent_alternative_only": false,
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        {
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          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_0",
          "row": {
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            "seed": 42,
            "track_index": 0,
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                    "class": "Poker",
                    "value": "king",
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                  {
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                    "class": "Poker",
                    "value": "ace",
                    "suite": "hearts"
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                    "name": "card_holder2",
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                  {
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                    "class": "Poker",
                    "value": "jack",
                    "suite": "hearts"
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                  {
                    "name": "card_holder3",
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                  {
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                "card_holder2": 7.022065526770107e-07,
                "jack_of_hearts": 7.022041793062177e-07,
                "card_holder3": 6.920838225260553e-07,
                "9_of_spades": 6.920814561147526e-07
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "ace_of_hearts"
              ]
            },
            "200": {
              "step": 70,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.047627516090869904,
                0.12952373027801511,
                0.9411894071102143
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              "target_euler": [
                3.1078436374664307,
                -0.01740121841430664,
                -0.14417922496795654
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              "joint_target": [
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                0.23576742928838657,
                -0.06502329480139914,
                -2.259677887337213,
                0.009837015441239574,
                2.4580436634528873,
                -3.6970064234035176
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              "gripper": [
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                0.0
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                -0.04769637908364981,
                0.12590893442575685,
                0.9290410785132643
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              "ee_path_m": 0.6223729565865478,
              "joint_path_rad": 3.34164809055803,
              "native_success": true,
              "simulation_time_s": 9.000000000000451,
              "object_displacement_m": {
                "table": 7.056272390079093e-07,
                "card_holder0": 7.261534585346026e-07,
                "king_of_clubs": 7.261510669438789e-07,
                "card_holder1": 5.1881258473223016e-05,
                "ace_of_hearts": 0.07822494321378605,
                "card_holder2": 7.022065526770107e-07,
                "jack_of_hearts": 7.022041793062177e-07,
                "card_holder3": 6.920838225260553e-07,
                "9_of_spades": 6.920814561147526e-07
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "ace_of_hearts"
              ]
            }
          },
          "steps": 70,
          "simulator_steps": 70,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "ace_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "ace_of_hearts"
          ],
          "initial_physics_sha256": "339b19645ae708790791e552f644cbde01605e01ef97b9e0466fb54e33252e9d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "ebb5c56987e2a62b0285dda51f4268891be45b80efbd020b6a33d7aa63717eaf",
          "observation_matches_upstream": true,
          "wall_s": 3.5629262019938324,
          "ee_path_m": 0.6223729565865478,
          "joint_path_rad": 3.34164809055803,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "ace_of_hearts"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 12.963881537994894,
          "compiled_physics_parameters_sha256": "5d20cb7a3fae28203061b1aa2b6177edd35c7677352795ea2a558653616616c9",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 54
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_1",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -8.966142902813692e-15,
                      -1.2332859642485835e-12,
                      -7.872541649825789e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.2023929677799605e-09,
                      4.516085765456397e-11,
                      1.3470521785538065e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.1833903621740975,
                      0.1892740131511156,
                      0.765998989309076
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259090152e-09,
                      4.4176978124116555e-09,
                      0.7071067811865461
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18339036263735997,
                      0.18927394952249763,
                      0.8309988868433503
                    ],
                    "orientation": [
                      0.49999999685195073,
                      -0.5000000031029258,
                      0.5000000031480504,
                      0.4999999968970729
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.0608359822106072,
                      0.11304565431153674,
                      0.7659989902436128
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                    "orientation": [
                      0.7071067811865487,
                      -4.353831259047346e-09,
                      4.417697812495295e-09,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06083598267386951,
                      0.11304559068291985,
                      0.830998887777851
                    ],
                    "orientation": [
                      0.49999999685194974,
                      -0.500000003102927,
                      0.5000000031480496,
                      0.4999999968970738
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0741595643643782,
                      0.056578099278987666,
                      0.7659989909318947
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259164623e-09,
                      4.417697812427819e-09,
                      0.7071067811865454
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07415956390111549,
                      0.05657803565037027,
                      0.8309988884661065
                    ],
                    "orientation": [
                      0.4999999968519501,
                      -0.5000000031029264,
                      0.5000000031480499,
                      0.4999999968970734
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.17334448768784513,
                      0.091263319360156,
                      0.765998990492669
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.3538312591097935e-09,
                      4.41769781238297e-09,
                      0.7071067811865466
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.1733444872245828,
                      0.09126325573153812,
                      0.8309988880268976
                    ],
                    "orientation": [
                      0.49999999685195057,
                      -0.5000000031029265,
                      0.5000000031480504,
                      0.4999999968970733
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 8 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "8_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 8 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "2_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "8_of_clubs": 0.0,
              "card_holder3": 0.0,
              "queen_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 62,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.07681181281805038,
              0.05409166812896726,
              0.9415798771381378
            ],
            "target_euler": [
              3.1083855628967285,
              -0.024661872535943985,
              -0.12463885545730591
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            "joint_target": [
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              0.07088094956867656,
              -0.45455281868277414,
              -2.5081831383472775,
              0.009497462252541812,
              2.5394694636313293,
              -3.9671905461972097
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            "gripper": [
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              0.0
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            "ee_position": [
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              0.05146943719617454,
              0.9303140749143664
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            "ee_path_m": 0.6271511411870637,
            "joint_path_rad": 4.144195207783117,
            "native_success": true,
            "simulation_time_s": 8.200000000000895,
            "object_displacement_m": {
              "table": 1.820160596413464e-06,
              "card_holder0": 1.780243986875383e-06,
              "2_of_hearts": 1.7802621408288946e-06,
              "card_holder1": 1.8067065183857809e-06,
              "5_of_hearts": 1.8067247277506516e-06,
              "card_holder2": 0.01074497029269788,
              "8_of_clubs": 0.07916325242258967,
              "card_holder3": 1.8568293843796582e-06,
              "queen_of_diamonds": 1.8568475859986985e-06
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "8_of_clubs"
            ]
          },
          "snapshots": {
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              "step": 60,
              "substeps": 1,
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              "target_position_world": [
                0.07992203533649445,
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                0.9187407928705216
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              "target_euler": [
                3.1024515628814697,
                -0.019765058532357216,
                -0.10461151599884033
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              "joint_target": [
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.05147007072671678,
                0.9053585517173982
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              "ee_path_m": 0.6020489918264528,
              "joint_path_rad": 4.010342002680821,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.8201605964134058e-06,
                "card_holder0": 1.7802441145401828e-06,
                "2_of_hearts": 1.7802623289402024e-06,
                "card_holder1": 1.8067066433418626e-06,
                "5_of_hearts": 1.8067249155580927e-06,
                "card_holder2": 0.010744970292824165,
                "8_of_clubs": 0.05431662743458713,
                "card_holder3": 1.856829509299941e-06,
                "queen_of_diamonds": 1.8568477738647094e-06
              },
              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "8_of_clubs"
              ]
            },
            "100": {
              "step": 62,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                0.05409166812896726,
                0.9415798771381378
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              "target_euler": [
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              "joint_target": [
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                -0.45455281868277414,
                -2.5081831383472775,
                0.009497462252541812,
                2.5394694636313293,
                -3.9671905461972097
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              "gripper": [
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                0.0
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              "ee_position": [
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              "ee_path_m": 0.6271511411870637,
              "joint_path_rad": 4.144195207783117,
              "native_success": true,
              "simulation_time_s": 8.200000000000895,
              "object_displacement_m": {
                "table": 1.820160596413464e-06,
                "card_holder0": 1.780243986875383e-06,
                "2_of_hearts": 1.7802621408288946e-06,
                "card_holder1": 1.8067065183857809e-06,
                "5_of_hearts": 1.8067247277506516e-06,
                "card_holder2": 0.01074497029269788,
                "8_of_clubs": 0.07916325242258967,
                "card_holder3": 1.8568293843796582e-06,
                "queen_of_diamonds": 1.8568475859986985e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "8_of_clubs"
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            },
            "200": {
              "step": 62,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                0.05409166812896726,
                0.9415798771381378
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              "target_euler": [
                3.1083855628967285,
                -0.024661872535943985,
                -0.12463885545730591
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              "joint_target": [
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                -0.45455281868277414,
                -2.5081831383472775,
                0.009497462252541812,
                2.5394694636313293,
                -3.9671905461972097
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.9303140749143664
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              "ee_path_m": 0.6271511411870637,
              "joint_path_rad": 4.144195207783117,
              "native_success": true,
              "simulation_time_s": 8.200000000000895,
              "object_displacement_m": {
                "table": 1.820160596413464e-06,
                "card_holder0": 1.780243986875383e-06,
                "2_of_hearts": 1.7802621408288946e-06,
                "card_holder1": 1.8067065183857809e-06,
                "5_of_hearts": 1.8067247277506516e-06,
                "card_holder2": 0.01074497029269788,
                "8_of_clubs": 0.07916325242258967,
                "card_holder3": 1.8568293843796582e-06,
                "queen_of_diamonds": 1.8568475859986985e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "8_of_clubs"
              ]
            }
          },
          "steps": 62,
          "simulator_steps": 62,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "8_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "8_of_clubs"
          ],
          "initial_physics_sha256": "401a81724d79cf7b156be5ffb1bc121d198cf65c6c388df20bb9d259b22be413",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "66c62b893f83d4cf8056ac2f071455efa009995ce44326a8720a03d87086ff19",
          "observation_matches_upstream": true,
          "wall_s": 3.2211935429950245,
          "ee_path_m": 0.6271511411870637,
          "joint_path_rad": 4.144195207783117,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "8_of_clubs"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 12.458398319002299,
          "compiled_physics_parameters_sha256": "b25b2bbb0bd43d7917183652c55d497be226c1996da24957c2e635a5a9e9587d",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 48
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_2",
          "row": {
            "task": "select_poker",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      1.2453404370727793e-13,
                      -7.412892325855532e-13,
                      -7.872541655946741e-07
                    ],
                    "orientation": [
                      1.0,
                      -3.728310467759129e-09,
                      -6.260660722252706e-10,
                      -4.265552169405024e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.2205967619815587,
                      0.024583897840483655,
                      0.7659989911809051
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116655678967e-09,
                      2.19362807607307e-09,
                      0.7071067811865467
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22059675555973354,
                      0.024583859592760073,
                      0.8309988887151056
                    ],
                    "orientation": [
                      0.4999999984340172,
                      -0.5000000021915298,
                      0.5000000015659848,
                      0.4999999978084684
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06211185324907401,
                      0.07745700588295698,
                      0.7659989909850923
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116657008755e-09,
                      2.1936280760673635e-09,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06211184682724876,
                      0.0774569676352338,
                      0.8309988885193005
                    ],
                    "orientation": [
                      0.4999999984340156,
                      -0.5000000021915315,
                      0.5000000015659833,
                      0.4999999978084698
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0633687424154539,
                      0.023341998300958226,
                      0.7659989915457316
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.079011665669035e-09,
                      2.1936280759991955e-09,
                      0.707106781186547
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06336874883727882,
                      0.023341960053234773,
                      0.8309988890799179
                    ],
                    "orientation": [
                      0.49999999843401627,
                      -0.5000000021915308,
                      0.5000000015659838,
                      0.49999999780846943
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.1739008663808682,
                      0.14521270026197677,
                      0.7659989907753807
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116656240354e-09,
                      2.193628076042048e-09,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.17390087280269334,
                      0.1452126620142527,
                      0.830998888309597
                    ],
                    "orientation": [
                      0.49999999843401594,
                      -0.5000000021915313,
                      0.5000000015659833,
                      0.4999999978084701
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 4 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "4_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "4_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "4_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 4 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_diamonds": 0.0,
              "card_holder1": 0.0,
              "9_of_spades": 0.0,
              "card_holder2": 0.0,
              "8_of_hearts": 0.0,
              "card_holder3": 0.0,
              "4_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.21817277371883392,
              -0.02874090671539309,
              0.9866166996955872
            ],
            "target_euler": [
              3.0296003818511963,
              -0.04196283221244812,
              -0.00961381196975708
            ],
            "joint_target": [
              0.30867258269600645,
              -0.08727128425977607,
              0.21879827672293253,
              -2.5226843731979107,
              0.054538952849562713,
              2.3189897564898545,
              -3.429750574853237
            ],
            "gripper": [
              0.04,
              0.04
            ],
            "ee_position": [
              -0.21052657742979966,
              -0.03320862326542833,
              0.9824971970741607
            ],
            "ee_path_m": 2.578623647710981,
            "joint_path_rad": 11.729281213779917,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.2203282168021558e-07,
              "card_holder0": 2.068740744914677e-07,
              "4_of_diamonds": 2.0687019946121993e-07,
              "card_holder1": 2.1930958730810147e-07,
              "9_of_spades": 2.1930571763507168e-07,
              "card_holder2": 2.2704031002182286e-07,
              "8_of_hearts": 2.2703655293270163e-07,
              "card_holder3": 1.6789821589632893e-05,
              "4_of_hearts": 0.05402351463562544
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.16039565205574036,
                0.1484158396720886,
                0.8287882345914841
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              "target_euler": [
                3.1562469005584717,
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                -0.10264575481414795
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              "joint_target": [
                -0.08412764467202935,
                0.5718233569137894,
                -0.18153198113604316,
                -2.1240846114481613,
                0.20427441771951815,
                2.696553980778737,
                -4.245849652681518
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                0.15996335551372923,
                0.14401553697999883,
                0.8222955912940665
              ],
              "ee_path_m": 0.7056451173698661,
              "joint_path_rad": 4.155341196986369,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 2.220136367679609e-07,
                "card_holder0": 2.0686393233192506e-07,
                "4_of_diamonds": 2.0686281769631446e-07,
                "card_holder1": 2.1929863764759982e-07,
                "9_of_spades": 2.1929754540767788e-07,
                "card_holder2": 2.2702849418415984e-07,
                "8_of_hearts": 2.2702739873724808e-07,
                "card_holder3": 1.6773762168310323e-05,
                "4_of_hearts": 0.041747294328194524
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.08791320770978928,
                0.03737468123435972,
                1.0299979138374329
              ],
              "target_euler": [
                3.130713701248169,
                -0.023188330233097076,
                -0.09620094299316406
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              "joint_target": [
                0.043845665580597167,
                -0.1787065699534,
                -0.2355843436930759,
                -2.513136458453654,
                -0.09036025936860412,
                2.32852043312031,
                -3.956924162627762
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                0.09221422063547871,
                0.03670465577004803,
                1.0251108899133838
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              "ee_path_m": 1.1077935663992176,
              "joint_path_rad": 5.857972292252147,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.2203282157015635e-07,
                "card_holder0": 2.0687794119642832e-07,
                "4_of_diamonds": 2.0687601947620353e-07,
                "card_holder1": 2.193134753023131e-07,
                "9_of_spades": 2.193115732635679e-07,
                "card_holder2": 2.2704423389983884e-07,
                "8_of_hearts": 2.270423526211953e-07,
                "card_holder3": 1.6778517671231607e-05,
                "4_of_hearts": 0.0538175833234786
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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              "target_euler": [
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                -0.00961381196975708
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              "joint_target": [
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                0.21879827672293253,
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                0.054538952849562713,
                2.3189897564898545,
                -3.429750574853237
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              "gripper": [
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              "ee_position": [
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                0.9824971970741607
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              "ee_path_m": 2.578623647710981,
              "joint_path_rad": 11.729281213779917,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.2203282168021558e-07,
                "card_holder0": 2.068740744914677e-07,
                "4_of_diamonds": 2.0687019946121993e-07,
                "card_holder1": 2.1930958730810147e-07,
                "9_of_spades": 2.1930571763507168e-07,
                "card_holder2": 2.2704031002182286e-07,
                "8_of_hearts": 2.2703655293270163e-07,
                "card_holder3": 1.6789821589632893e-05,
                "4_of_hearts": 0.05402351463562544
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "4_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "4_of_hearts"
          ],
          "initial_physics_sha256": "2a0421213e0694417da367d315846ffdaee6de5045efc4ed613511b74d7dca8a",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "a386fb575532a7ae7970eb44edd0bb4b5b745214dae709c2110e6dda8a5c92d9",
          "observation_matches_upstream": true,
          "wall_s": 8.996690656000283,
          "ee_path_m": 2.578623647710981,
          "joint_path_rad": 11.729281213779917,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "4_of_hearts"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 18.319288282000343,
          "compiled_physics_parameters_sha256": "34b571b23be28cd49fc75986e790eee4e1155e2a1b603028e18f90eaacbcc72a",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 62
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_3",
          "row": {
            "task": "select_poker",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      3.789724152025814e-13,
                      -7.666613412025772e-13,
                      -7.789010675591938e-07
                    ],
                    "orientation": [
                      1.0,
                      -4.393147707564248e-09,
                      -2.1707242623472702e-09,
                      -1.2414525400636481e-17
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.15881052151824457,
                      0.1194440192388725,
                      0.7659989982546671
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.641352680417562e-09,
                      1.5715111343539685e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.15881049925149912,
                      0.11944397416928333,
                      0.8309988957885945
                    ],
                    "orientation": [
                      0.49999999887068247,
                      -0.5000000032982417,
                      0.5000000011293158,
                      0.49999999670176
                    ],
                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.07369463407369549,
                      0.05716001839115409,
                      0.7659989991714484
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -4.641352680326007e-09,
                      1.5715111344216344e-09,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.07369461180695033,
                      0.05715997332156493,
                      0.8309988967053403
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                    "orientation": [
                      0.49999999887068275,
                      -0.5000000032982413,
                      0.5000000011293161,
                      0.4999999967017596
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0749570679408933,
                      0.14224438865918912,
                      0.7659989990692347
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.6413526803883e-09,
                      1.571511134413264e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07495709020763787,
                      0.1422443435896006,
                      0.8309988966031306
                    ],
                    "orientation": [
                      0.4999999988706842,
                      -0.5000000032982398,
                      0.5000000011293173,
                      0.4999999967017582
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 7 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "7_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 7 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "7_of_hearts": 0.0,
              "card_holder1": 0.0,
              "3_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 70,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.16475403308868408,
              0.10562483072280882,
              0.9364395725727082
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            "target_euler": [
              3.0904269218444824,
              -0.005996350198984146,
              -0.17700710892677307
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            "joint_target": [
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              0.24915717473779075,
              0.044885259752413455,
              -2.2519514190359464,
              0.011942934586350649,
              2.4528130417632537,
              -3.4489766198360314
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            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.16371628473015842,
              0.10231673860567801,
              0.924963607853674
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            "ee_path_m": 0.6321481117713803,
            "joint_path_rad": 3.4601708935867013,
            "native_success": true,
            "simulation_time_s": 9.000000000000451,
            "object_displacement_m": {
              "table": 1.8380294957820924e-06,
              "card_holder0": 0.0001572514630015032,
              "7_of_hearts": 0.07511490616389323,
              "card_holder1": 1.871869943452705e-06,
              "3_of_hearts": 1.8718691579252019e-06,
              "card_holder2": 1.8007077372833518e-06,
              "jack_of_diamonds": 1.8007070018949753e-06
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "7_of_hearts"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.16949498653411865,
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                0.8399332600831986
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              "target_euler": [
                3.1265342235565186,
                -0.0018880032002925873,
                -0.18374761939048767
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              "joint_target": [
                0.297078568241972,
                0.47052386200914165,
                0.023333230067671226,
                -2.2475394273045652,
                -0.011799834265969193,
                2.7038109541142012,
                -3.415351408019903
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              "gripper": [
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                0.0
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              "ee_position": [
                -0.16918056574150317,
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              "ee_path_m": 0.5459637068982324,
              "joint_path_rad": 3.0638671554190084,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.6612970191272078e-06,
                "card_holder0": 0.0001425749087815523,
                "7_of_hearts": 0.00706711629288248,
                "card_holder1": 1.7199368640150187e-06,
                "3_of_hearts": 1.722316460800637e-06,
                "card_holder2": 1.6558080957300707e-06,
                "jack_of_diamonds": 1.6582166273294583e-06
              },
              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "7_of_hearts"
              ]
            },
            "100": {
              "step": 70,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.16475403308868408,
                0.10562483072280882,
                0.9364395725727082
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              "target_euler": [
                3.0904269218444824,
                -0.005996350198984146,
                -0.17700710892677307
              ],
              "joint_target": [
                0.2672860966838298,
                0.24915717473779075,
                0.044885259752413455,
                -2.2519514190359464,
                0.011942934586350649,
                2.4528130417632537,
                -3.4489766198360314
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                -0.16371628473015842,
                0.10231673860567801,
                0.924963607853674
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              "ee_path_m": 0.6321481117713803,
              "joint_path_rad": 3.4601708935867013,
              "native_success": true,
              "simulation_time_s": 9.000000000000451,
              "object_displacement_m": {
                "table": 1.8380294957820924e-06,
                "card_holder0": 0.0001572514630015032,
                "7_of_hearts": 0.07511490616389323,
                "card_holder1": 1.871869943452705e-06,
                "3_of_hearts": 1.8718691579252019e-06,
                "card_holder2": 1.8007077372833518e-06,
                "jack_of_diamonds": 1.8007070018949753e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "7_of_hearts"
              ]
            },
            "200": {
              "step": 70,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.16475403308868408,
                0.10562483072280882,
                0.9364395725727082
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                -0.005996350198984146,
                -0.17700710892677307
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              "joint_target": [
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                0.24915717473779075,
                0.044885259752413455,
                -2.2519514190359464,
                0.011942934586350649,
                2.4528130417632537,
                -3.4489766198360314
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              "ee_position": [
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                0.924963607853674
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              "ee_path_m": 0.6321481117713803,
              "joint_path_rad": 3.4601708935867013,
              "native_success": true,
              "simulation_time_s": 9.000000000000451,
              "object_displacement_m": {
                "table": 1.8380294957820924e-06,
                "card_holder0": 0.0001572514630015032,
                "7_of_hearts": 0.07511490616389323,
                "card_holder1": 1.871869943452705e-06,
                "3_of_hearts": 1.8718691579252019e-06,
                "card_holder2": 1.8007077372833518e-06,
                "jack_of_diamonds": 1.8007070018949753e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "7_of_hearts"
              ]
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          },
          "steps": 70,
          "simulator_steps": 70,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "7_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "7_of_hearts"
          ],
          "initial_physics_sha256": "4f73f82f5780df87d49802fea7a0ce90af32e09917a271a7e9b88f8acf135ca1",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "d7d475b1055f2b8a2182df21752a915bfebff589934c546aa4a378799920c9f0",
          "observation_matches_upstream": true,
          "wall_s": 3.3545679849994485,
          "ee_path_m": 0.6321481117713803,
          "joint_path_rad": 3.4601708935867013,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "7_of_hearts"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
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          "total_wall_s": 11.808070550003322,
          "compiled_physics_parameters_sha256": "1f85542eca6570f2ee4096ab955aec38518daba68a72b55c6f20b5d66949d5cd",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 54
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_4",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.542749798055852e-13,
                      -4.4897256357510424e-13,
                      -7.789010678285046e-07
                    ],
                    "orientation": [
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                      -2.572858804444268e-09,
                      -2.602040912461551e-09,
                      -8.532489215714537e-18
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                    "class": "Table",
                    "materials": [
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                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
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                      0.7659989986014384
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                    "orientation": [
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                      -2.0614878104259223e-11,
                      0.7071067811865475
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                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18767528281960347,
                      0.08074525659853957,
                      0.8309988961353516
                    ],
                    "orientation": [
                      0.5000000000034353,
                      -0.5000000025964476,
                      0.4999999999965628,
                      0.4999999974035538
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                    "class": "Poker",
                    "value": "king",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                      0.022600027141975555,
                      0.7659989995904121
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                    "orientation": [
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                      -3.6591953290326665e-09,
                      -2.0614878074598264e-11,
                      0.7071067811865477
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                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05513233225781521,
                      0.022600000746839693,
                      0.830998897124287
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                    "orientation": [
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                      -0.500000002596447,
                      0.49999999999656414,
                      0.49999999740355283
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                    "class": "Poker",
                    "value": "king",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05395523079590979,
                      0.08338912900350204,
                      0.7659989998453118
                    ],
                    "orientation": [
                      0.707106781186547,
                      -3.659195329021801e-09,
                      -2.06148781947021e-11,
                      0.7071067811865476
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                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05395525748699711,
                      0.08338910260836513,
                      0.8309988973791771
                    ],
                    "orientation": [
                      0.5000000000034368,
                      -0.5000000025964465,
                      0.49999999999656414,
                      0.49999999740355283
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                    "class": "Poker",
                    "value": "9",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
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                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker king of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "king_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker king of clubs",
          "initial": {
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            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_clubs": 0.0,
              "card_holder1": 0.0,
              "king_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "9_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
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              0.977330504655838
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            "target_euler": [
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            "joint_target": [
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              -2.4791717415818386,
              -0.03315738776149592,
              2.3477875498298357,
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            "gripper": [
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              0.0
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            "ee_position": [
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              0.9720864033032213
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            "ee_path_m": 2.1019752906547042,
            "joint_path_rad": 10.562305742742193,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.71231028819648e-06,
              "card_holder0": 0.0001915163114335667,
              "king_of_clubs": 0.13911922541527078,
              "card_holder1": 1.7392840252337485e-06,
              "king_of_diamonds": 0.05778697020935531,
              "card_holder2": 1.6896687728334752e-06,
              "9_of_hearts": 1.689667483088867e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
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          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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                0.8414904463291168
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              "target_euler": [
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                -0.06527626514434814
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                -0.017675120847903646,
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              "joint_path_rad": 3.1749859436437093,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.6688796565982576e-06,
                "card_holder0": 0.0001884798120510706,
                "king_of_clubs": 0.01466861345780714,
                "card_holder1": 1.7068527451864196e-06,
                "king_of_diamonds": 1.7075823437798314e-06,
                "card_holder2": 1.6555601454191517e-06,
                "9_of_hearts": 1.6562906110701365e-06
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              "intention_score": 1.0,
              "grasped_objects": [
                "king_of_clubs"
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            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                -0.06331574320793154,
                1.054610549211502
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              "target_euler": [
                3.054616689682007,
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              "joint_target": [
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                -0.4888549959776184,
                -0.03982671831415167,
                -2.7155322773997397,
                -0.019579258794188866,
                2.13543392262218,
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              "gripper": [
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                0.0
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              "ee_position": [
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                -0.06374104688133905,
                1.052072718334092
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              "ee_path_m": 1.0094177033411242,
              "joint_path_rad": 5.479380980565335,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.7122996789489914e-06,
                "card_holder0": 0.0001915163140073986,
                "king_of_clubs": 0.13911922538392263,
                "card_holder1": 1.7422809207274173e-06,
                "king_of_diamonds": 1.7422807553113204e-06,
                "card_holder2": 1.6896600555241374e-06,
                "9_of_hearts": 1.689659915043598e-06
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
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            "200": {
              "step": 200,
              "substeps": 1,
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                0.977330504655838
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                -3.7875500680594185
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              "gripper": [
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                0.0
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                0.033761770745162664,
                0.9720864033032213
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              "ee_path_m": 2.1019752906547042,
              "joint_path_rad": 10.562305742742193,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.71231028819648e-06,
                "card_holder0": 0.0001915163114335667,
                "king_of_clubs": 0.13911922541527078,
                "card_holder1": 1.7392840252337485e-06,
                "king_of_diamonds": 0.05778697020935531,
                "card_holder2": 1.6896687728334752e-06,
                "9_of_hearts": 1.689667483088867e-06
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
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          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "king_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "king_of_clubs"
          ],
          "initial_physics_sha256": "d3c4ef3a6ba89aaddcabbb3ab17c8d7336dda841bfb53d1997b7174ee156ab7c",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "2880da9836a512a63cbc5f3576689a114472875f888a77ad5154d220b2cd1708",
          "observation_matches_upstream": true,
          "wall_s": 8.737141592995613,
          "ee_path_m": 2.1019752906547042,
          "joint_path_rad": 10.562305742742193,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "king_of_clubs"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 21.66938087699964,
          "compiled_physics_parameters_sha256": "cd03eb4ffa35c6bde0edc03d97c661d03c9387794b64e106130cee977a4942e3",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 53
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_5",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -4.518849811053046e-14,
                      -1.3734859347746658e-12,
                      -7.87254164747005e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.907338010928561e-09,
                      2.2732595695747078e-10,
                      1.8605104750660698e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.19131640784004358,
                      0.1980019992654107,
                      0.7659989889920613
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                    "orientation": [
                      0.7071067811865472,
                      -4.723494782654896e-09,
                      5.044979495745809e-09,
                      0.7071067811865471
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                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19131641017187384,
                      0.1980019284049921,
                      0.8309988865263485
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                    "orientation": [
                      0.49999999640571113,
                      -0.5000000033671516,
                      0.5000000035942916,
                      0.4999999966328458
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                    "class": "Poker",
                    "value": "queen",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.05432821628843378,
                      0.16717705737414396,
                      0.7659989893556197
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                    "orientation": [
                      0.7071067811865472,
                      -4.723494782681899e-09,
                      5.044979495682341e-09,
                      0.7071067811865469
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                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05432821862026466,
                      0.1671769865137246,
                      0.8309988868898929
                    ],
                    "orientation": [
                      0.4999999964057097,
                      -0.500000003367153,
                      0.5000000035942905,
                      0.49999999663284705
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.060198456808577945,
                      0.12740508690092883,
                      0.7659989898529921
                    ],
                    "orientation": [
                      0.707106781186546,
                      -4.723494782554431e-09,
                      5.0449794958084284e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06019845447674782,
                      0.12740501604051027,
                      0.8309988873872459
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                    "orientation": [
                      0.49999999640571013,
                      -0.5000000033671523,
                      0.5000000035942906,
                      0.49999999663284667
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.20194516115587058,
                      0.008740882174810847,
                      0.7659989914278703
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.7234947825609135e-09,
                      5.044979495770393e-09,
                      0.7071067811865474
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.20194515882404016,
                      0.008740811314393259,
                      0.8309988889620633
                    ],
                    "orientation": [
                      0.49999999640571013,
                      -0.5000000033671527,
                      0.5000000035942908,
                      0.49999999663284683
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker jack of diamonds"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "jack_of_diamonds"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker jack of diamonds",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "queen_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_hearts": 0.0,
              "card_holder2": 0.0,
              "6_of_clubs": 0.0,
              "card_holder3": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 69,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.2049768567085266,
              0.0007434844970702903,
              0.937895565032959
            ],
            "target_euler": [
              -2.9044034481048584,
              -0.04043154418468475,
              -0.1319502592086792
            ],
            "joint_target": [
              0.33759714089334963,
              0.013510660991064023,
              -0.7813674804007376,
              -2.706105803820736,
              0.2322780807275746,
              2.9487843424277678,
              -4.46608576789657
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.20161968807568947,
              -0.005104407712635255,
              0.9235431731837096
            ],
            "ee_path_m": 0.7355233594915498,
            "joint_path_rad": 8.819364220568547,
            "native_success": true,
            "simulation_time_s": 8.900000000000507,
            "object_displacement_m": {
              "table": 1.4544226405823531e-06,
              "card_holder0": 1.370782538279679e-06,
              "queen_of_spades": 1.3707850993166558e-06,
              "card_holder1": 1.4331061371862856e-06,
              "2_of_hearts": 1.4331086689581859e-06,
              "card_holder2": 1.4849906085606234e-06,
              "6_of_clubs": 1.4849931037387193e-06,
              "card_holder3": 0.0023202721201343265,
              "jack_of_diamonds": 0.07296093050516649
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "jack_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.1970144808292389,
                -0.0005697548389435036,
                0.8432742792367935
              ],
              "target_euler": [
                3.0755953788757324,
                -0.03517743945121765,
                -0.13041287660598755
              ],
              "joint_target": [
                0.24830333903678495,
                0.3903799255015148,
                -0.6038562956653941,
                -2.511666447548522,
                0.452133029476726,
                2.742736277455173,
                -4.547963743965033
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.20448171289409214,
                0.012835994124254417,
                0.8373017803001996
              ],
              "ee_path_m": 0.5995198181125411,
              "joint_path_rad": 6.377771049839609,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.3597754049946014e-06,
                "card_holder0": 1.3075950091833996e-06,
                "queen_of_spades": 1.3093153756226917e-06,
                "card_holder1": 1.3648119269720564e-06,
                "2_of_hearts": 1.3665351091528655e-06,
                "card_holder2": 1.4122578607691708e-06,
                "6_of_clubs": 1.4139848797033144e-06,
                "card_holder3": 0.002019327928531505,
                "jack_of_diamonds": 0.011358775589328204
              },
              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            },
            "100": {
              "step": 69,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.2049768567085266,
                0.0007434844970702903,
                0.937895565032959
              ],
              "target_euler": [
                -2.9044034481048584,
                -0.04043154418468475,
                -0.1319502592086792
              ],
              "joint_target": [
                0.33759714089334963,
                0.013510660991064023,
                -0.7813674804007376,
                -2.706105803820736,
                0.2322780807275746,
                2.9487843424277678,
                -4.46608576789657
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.20161968807568947,
                -0.005104407712635255,
                0.9235431731837096
              ],
              "ee_path_m": 0.7355233594915498,
              "joint_path_rad": 8.819364220568547,
              "native_success": true,
              "simulation_time_s": 8.900000000000507,
              "object_displacement_m": {
                "table": 1.4544226405823531e-06,
                "card_holder0": 1.370782538279679e-06,
                "queen_of_spades": 1.3707850993166558e-06,
                "card_holder1": 1.4331061371862856e-06,
                "2_of_hearts": 1.4331086689581859e-06,
                "card_holder2": 1.4849906085606234e-06,
                "6_of_clubs": 1.4849931037387193e-06,
                "card_holder3": 0.0023202721201343265,
                "jack_of_diamonds": 0.07296093050516649
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            },
            "200": {
              "step": 69,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.2049768567085266,
                0.0007434844970702903,
                0.937895565032959
              ],
              "target_euler": [
                -2.9044034481048584,
                -0.04043154418468475,
                -0.1319502592086792
              ],
              "joint_target": [
                0.33759714089334963,
                0.013510660991064023,
                -0.7813674804007376,
                -2.706105803820736,
                0.2322780807275746,
                2.9487843424277678,
                -4.46608576789657
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.20161968807568947,
                -0.005104407712635255,
                0.9235431731837096
              ],
              "ee_path_m": 0.7355233594915498,
              "joint_path_rad": 8.819364220568547,
              "native_success": true,
              "simulation_time_s": 8.900000000000507,
              "object_displacement_m": {
                "table": 1.4544226405823531e-06,
                "card_holder0": 1.370782538279679e-06,
                "queen_of_spades": 1.3707850993166558e-06,
                "card_holder1": 1.4331061371862856e-06,
                "2_of_hearts": 1.4331086689581859e-06,
                "card_holder2": 1.4849906085606234e-06,
                "6_of_clubs": 1.4849931037387193e-06,
                "card_holder3": 0.0023202721201343265,
                "jack_of_diamonds": 0.07296093050516649
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            }
          },
          "steps": 69,
          "simulator_steps": 69,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "jack_of_diamonds"
          ],
          "alternative_entity": null,
          "original_entity": [
            "jack_of_diamonds"
          ],
          "initial_physics_sha256": "3f877b9d0aa4fce89fea983af27077a9d496f88b112aa78045878e19d2b8e8af",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "67de1c279efd41435848e9230907ab7da0592ff1df19ee35da9a7f99170eddf9",
          "observation_matches_upstream": true,
          "wall_s": 3.4327416619998985,
          "ee_path_m": 0.7355233594915498,
          "joint_path_rad": 8.819364220568547,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 12.934282184003678,
          "compiled_physics_parameters_sha256": "61005b74323be9118d9e2739393e834c089c5cdbb6eeaaaedfe68eab36ff1f40",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 53
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_6",
          "row": {
            "task": "select_poker",
            "seed": 48,
            "track_index": 6,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      3.8642890570140353e-13,
                      -5.545555182370144e-13,
                      -7.789010677885988e-07
                    ],
                    "orientation": [
                      1.0,
                      -3.1778474508886374e-09,
                      -2.2133473135337998e-09,
                      -9.013288276381104e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.16699974591358552,
                      0.005595146231911534,
                      0.7659989992187971
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.812142380056193e-09,
                      6.820232502671688e-10,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.16699972320961695,
                      0.005595113630160135,
                      0.8309988967526866
                    ],
                    "orientation": [
                      0.4999999995043872,
                      -0.5000000027071249,
                      0.5000000004956137,
                      0.49999999729287453
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06617680600176057,
                      0.15408885678631498,
                      0.7659989987213236
                    ],
                    "orientation": [
                      0.7071067811865488,
                      -3.8121423801015644e-09,
                      6.820232502975795e-10,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06617678329779163,
                      0.15408882418456313,
                      0.8309988962552323
                    ],
                    "orientation": [
                      0.49999999950438784,
                      -0.500000002707124,
                      0.5000000004956141,
                      0.49999999729287403
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.07253494469720136,
                      0.07095965405280827,
                      0.7659989998637138
                    ],
                    "orientation": [
                      0.7071067811865488,
                      -3.8121423800270785e-09,
                      6.820232502571866e-10,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07253496740117003,
                      0.0709596214510563,
                      0.8309988973975784
                    ],
                    "orientation": [
                      0.499999999504387,
                      -0.5000000027071251,
                      0.5000000004956134,
                      0.4999999972928748
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker jack of diamonds"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "jack_of_diamonds"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker jack of diamonds",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 70,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.06421684473752975,
              0.08071390390396116,
              0.9380660045146942
            ],
            "target_euler": [
              3.059903860092163,
              -0.012071777135133743,
              -0.13145220279693604
            ],
            "joint_target": [
              0.109838802487406,
              0.14994873134974865,
              -0.2362448089186134,
              -2.391381815795526,
              0.036890329265227374,
              2.455100076613959,
              -3.950619009891471
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.06343863857755434,
              0.0772319715642309,
              0.9281728323696153
            ],
            "ee_path_m": 0.6442032355555871,
            "joint_path_rad": 3.9224332893498572,
            "native_success": true,
            "simulation_time_s": 9.000000000000451,
            "object_displacement_m": {
              "table": 1.8949488935122394e-06,
              "card_holder0": 1.8592997618677065e-06,
              "king_of_hearts": 1.8593015707337725e-06,
              "card_holder1": 1.8826364536978787e-06,
              "5_of_hearts": 1.8826382289219256e-06,
              "card_holder2": 0.0012630980470680583,
              "jack_of_diamonds": 0.07759084802412086
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "jack_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.06046140566468239,
                0.08171973228454588,
                0.8319212633371353
              ],
              "target_euler": [
                3.0806026458740234,
                -0.013337891548871994,
                -0.12523037195205688
              ],
              "joint_target": [
                0.0696291240770742,
                0.4170082491647606,
                -0.1683669657654574,
                -2.3824914021733843,
                0.14234813612925823,
                2.7289562546285753,
                -4.021081717377209
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              "gripper": [
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                0.0
              ],
              "ee_position": [
                0.06007835556050223,
                0.07824460189629608,
                0.8259834159778018
              ],
              "ee_path_m": 0.5416101583070648,
              "joint_path_rad": 3.477649516754443,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.8097846134980168e-06,
                "card_holder0": 1.783700022324122e-06,
                "king_of_hearts": 1.7843690256647773e-06,
                "card_holder1": 1.8059126617430474e-06,
                "5_of_hearts": 1.8065814009197275e-06,
                "card_holder2": 0.0012531056604852782,
                "jack_of_diamonds": 0.02362961485994394
              },
              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            },
            "100": {
              "step": 70,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.06421684473752975,
                0.08071390390396116,
                0.9380660045146942
              ],
              "target_euler": [
                3.059903860092163,
                -0.012071777135133743,
                -0.13145220279693604
              ],
              "joint_target": [
                0.109838802487406,
                0.14994873134974865,
                -0.2362448089186134,
                -2.391381815795526,
                0.036890329265227374,
                2.455100076613959,
                -3.950619009891471
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.06343863857755434,
                0.0772319715642309,
                0.9281728323696153
              ],
              "ee_path_m": 0.6442032355555871,
              "joint_path_rad": 3.9224332893498572,
              "native_success": true,
              "simulation_time_s": 9.000000000000451,
              "object_displacement_m": {
                "table": 1.8949488935122394e-06,
                "card_holder0": 1.8592997618677065e-06,
                "king_of_hearts": 1.8593015707337725e-06,
                "card_holder1": 1.8826364536978787e-06,
                "5_of_hearts": 1.8826382289219256e-06,
                "card_holder2": 0.0012630980470680583,
                "jack_of_diamonds": 0.07759084802412086
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            },
            "200": {
              "step": 70,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.06421684473752975,
                0.08071390390396116,
                0.9380660045146942
              ],
              "target_euler": [
                3.059903860092163,
                -0.012071777135133743,
                -0.13145220279693604
              ],
              "joint_target": [
                0.109838802487406,
                0.14994873134974865,
                -0.2362448089186134,
                -2.391381815795526,
                0.036890329265227374,
                2.455100076613959,
                -3.950619009891471
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.06343863857755434,
                0.0772319715642309,
                0.9281728323696153
              ],
              "ee_path_m": 0.6442032355555871,
              "joint_path_rad": 3.9224332893498572,
              "native_success": true,
              "simulation_time_s": 9.000000000000451,
              "object_displacement_m": {
                "table": 1.8949488935122394e-06,
                "card_holder0": 1.8592997618677065e-06,
                "king_of_hearts": 1.8593015707337725e-06,
                "card_holder1": 1.8826364536978787e-06,
                "5_of_hearts": 1.8826382289219256e-06,
                "card_holder2": 0.0012630980470680583,
                "jack_of_diamonds": 0.07759084802412086
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            }
          },
          "steps": 70,
          "simulator_steps": 70,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "jack_of_diamonds"
          ],
          "alternative_entity": null,
          "original_entity": [
            "jack_of_diamonds"
          ],
          "initial_physics_sha256": "d18289fba45ef11a37b36a73ca32c126b785c583ccf86e0bd26d67b5897af86d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "252f2c9232c392055cf89377d5af9af0e9b68ff523044e03630691ee19216069",
          "observation_matches_upstream": true,
          "wall_s": 3.382931186002679,
          "ee_path_m": 0.6442032355555871,
          "joint_path_rad": 3.9224332893498572,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 16.43768860399723,
          "compiled_physics_parameters_sha256": "ae8e4c22ea5514da66136dd409e3dd6f2617c0cb29d9dad17820328b4fab2022",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 53
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_7",
          "row": {
            "task": "select_poker",
            "seed": 49,
            "track_index": 7,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      8.993010706098417e-14,
                      -1.0174838478983354e-12,
                      -7.872541652875655e-07
                    ],
                    "orientation": [
                      1.0,
                      -5.117511683830617e-09,
                      -4.5210121872354474e-10,
                      -3.4739328163569874e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.22159409258072887,
                      0.07013864205371936,
                      0.7659989907221931
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917337464e-09,
                      3.2989546876713754e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22159408794332378,
                      0.07013858955458034,
                      0.8309988882564122
                    ],
                    "orientation": [
                      0.4999999976470657,
                      -0.5000000028046608,
                      0.5000000023529358,
                      0.4999999971953378
                    ],
                    "class": "Poker",
                    "value": "10",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06397785497318992,
                      0.07305675226437446,
                      0.7659989908348444
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917287759e-09,
                      3.2989546877274984e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.063977850335785,
                      0.07305669976523622,
                      0.8309988883690591
                    ],
                    "orientation": [
                      0.4999999976470649,
                      -0.5000000028046615,
                      0.5000000023529362,
                      0.4999999971953374
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05492023439563817,
                      0.03904483541805253,
                      0.7659989912904697
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.9383169172991586e-09,
                      3.2989546876022165e-09,
                      0.7071067811865482
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05492023903304272,
                      0.03904478291891425,
                      0.8309988888246669
                    ],
                    "orientation": [
                      0.49999999764706304,
                      -0.5000000028046634,
                      0.5000000023529344,
                      0.4999999971953392
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.19783883614347678,
                      0.18918167358242372,
                      0.7659989898830285
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.93831691733311e-09,
                      3.2989546876239143e-09,
                      0.7071067811865485
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.19783884078088182,
                      0.189181621083284,
                      0.8309988874172801
                    ],
                    "orientation": [
                      0.4999999976470659,
                      -0.5000000028046607,
                      0.5000000023529361,
                      0.4999999971953377
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of spades"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_spades"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of spades",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "10_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "3_of_spades": 0.0,
              "card_holder3": 0.0,
              "6_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 71,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.19870370626449585,
              0.08641005158424375,
              0.9418719398975373
            ],
            "target_euler": [
              3.1092355251312256,
              -0.004759728908538818,
              -0.14325940608978271
            ],
            "joint_target": [
              0.2535212799292513,
              0.2189372038969709,
              0.13168212052520065,
              -2.2866849655054944,
              -0.026503336729304088,
              2.4732221046604987,
              -3.380870389845451
            ],
            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              -0.19752483129168913,
              0.0829530850090196,
              0.9298570293371091
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            "ee_path_m": 0.6520117592567473,
            "joint_path_rad": 3.2289470857464235,
            "native_success": true,
            "simulation_time_s": 9.100000000000396,
            "object_displacement_m": {
              "table": 3.6778484339042514e-07,
              "card_holder0": 2.6919973222557923e-05,
              "10_of_spades": 0.07978366909856224,
              "card_holder1": 3.788653632167953e-07,
              "2_of_diamonds": 3.7886384969595534e-07,
              "card_holder2": 3.618039936871077e-07,
              "3_of_spades": 3.618025109398813e-07,
              "card_holder3": 3.490839476630214e-07,
              "6_of_hearts": 3.4908251450924665e-07
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "10_of_spades"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.20467039942741394,
                0.08805743455886839,
                0.8448101717233658
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              "target_euler": [
                3.1161766052246094,
                -0.004275646060705185,
                -0.18539422750473022
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              "joint_target": [
                0.29677227581018295,
                0.4509872638136628,
                0.0911333746130353,
                -2.2640086954201846,
                -0.06792673792294558,
                2.688678382777093,
                -3.3015808462045246
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              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.2036784956904438,
                0.08805271930499245,
                0.8443980476570987
              ],
              "ee_path_m": 0.5636635548899565,
              "joint_path_rad": 2.8200022004212038,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 2.9342758359135046e-07,
                "card_holder0": 2.149224404831027e-05,
                "10_of_spades": 0.007809339238343034,
                "card_holder1": 3.232660948646713e-07,
                "2_of_diamonds": 3.2505864075924636e-07,
                "card_holder2": 3.09508667337177e-07,
                "3_of_spades": 3.113073747137374e-07,
                "card_holder3": 3.0115432580215856e-07,
                "6_of_hearts": 3.030400616496823e-07
              },
              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "10_of_spades"
              ]
            },
            "100": {
              "step": 71,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.19870370626449585,
                0.08641005158424375,
                0.9418719398975373
              ],
              "target_euler": [
                3.1092355251312256,
                -0.004759728908538818,
                -0.14325940608978271
              ],
              "joint_target": [
                0.2535212799292513,
                0.2189372038969709,
                0.13168212052520065,
                -2.2866849655054944,
                -0.026503336729304088,
                2.4732221046604987,
                -3.380870389845451
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                -0.19752483129168913,
                0.0829530850090196,
                0.9298570293371091
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              "ee_path_m": 0.6520117592567473,
              "joint_path_rad": 3.2289470857464235,
              "native_success": true,
              "simulation_time_s": 9.100000000000396,
              "object_displacement_m": {
                "table": 3.6778484339042514e-07,
                "card_holder0": 2.6919973222557923e-05,
                "10_of_spades": 0.07978366909856224,
                "card_holder1": 3.788653632167953e-07,
                "2_of_diamonds": 3.7886384969595534e-07,
                "card_holder2": 3.618039936871077e-07,
                "3_of_spades": 3.618025109398813e-07,
                "card_holder3": 3.490839476630214e-07,
                "6_of_hearts": 3.4908251450924665e-07
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "10_of_spades"
              ]
            },
            "200": {
              "step": 71,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.19870370626449585,
                0.08641005158424375,
                0.9418719398975373
              ],
              "target_euler": [
                3.1092355251312256,
                -0.004759728908538818,
                -0.14325940608978271
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              "joint_target": [
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                0.2189372038969709,
                0.13168212052520065,
                -2.2866849655054944,
                -0.026503336729304088,
                2.4732221046604987,
                -3.380870389845451
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              "gripper": [
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                0.0
              ],
              "ee_position": [
                -0.19752483129168913,
                0.0829530850090196,
                0.9298570293371091
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              "ee_path_m": 0.6520117592567473,
              "joint_path_rad": 3.2289470857464235,
              "native_success": true,
              "simulation_time_s": 9.100000000000396,
              "object_displacement_m": {
                "table": 3.6778484339042514e-07,
                "card_holder0": 2.6919973222557923e-05,
                "10_of_spades": 0.07978366909856224,
                "card_holder1": 3.788653632167953e-07,
                "2_of_diamonds": 3.7886384969595534e-07,
                "card_holder2": 3.618039936871077e-07,
                "3_of_spades": 3.618025109398813e-07,
                "card_holder3": 3.490839476630214e-07,
                "6_of_hearts": 3.4908251450924665e-07
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "10_of_spades"
              ]
            }
          },
          "steps": 71,
          "simulator_steps": 71,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "10_of_spades"
          ],
          "alternative_entity": null,
          "original_entity": [
            "10_of_spades"
          ],
          "initial_physics_sha256": "8624c852e28beead0562dc2c07b4ac27dcf3adf778f7b8c9291e3c024f6bdbcc",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "b913d8922ec692baac7b73db6421a31ceeecc035eefc4b530f1b2dfb41d420fe",
          "observation_matches_upstream": true,
          "wall_s": 3.510795470996527,
          "ee_path_m": 0.6520117592567473,
          "joint_path_rad": 3.2289470857464235,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "10_of_spades"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 12.735294682999665,
          "compiled_physics_parameters_sha256": "839db11ec264b6db7f6539a456567a0172bb775637919f57c3e012132fa9f4e6",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 55
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_8",
          "row": {
            "task": "select_poker",
            "seed": 50,
            "track_index": 8,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.709315723776263e-13,
                      -7.120539181289097e-13,
                      -7.789010675624339e-07
                    ],
                    "orientation": [
                      1.0,
                      -4.080259255360254e-09,
                      -2.6973053660541255e-09,
                      -1.6492287953422838e-17
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.19723480770496243,
                      0.09267394776934215,
                      0.7659989981733321
                    ],
                    "orientation": [
                      0.7071067811865452,
                      -4.792452507046338e-09,
                      9.779191649668945e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19723478003669684,
                      0.09267390590971358,
                      0.8309988957072625
                    ],
                    "orientation": [
                      0.4999999992914256,
                      -0.5000000034036428,
                      0.5000000007085753,
                      0.49999999659635597
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06125262286530359,
                      0.18971384371089628,
                      0.7659989981150066
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -4.792452506964044e-09,
                      9.779191650154976e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06125259519703843,
                      0.18971380185126765,
                      0.8309988956489393
                    ],
                    "orientation": [
                      0.49999999929142497,
                      -0.5000000034036438,
                      0.5000000007085753,
                      0.4999999965963562
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.06272083042383256,
                      0.013751637924165097,
                      0.7659990002197598
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -4.7924525071209434e-09,
                      9.779191649255241e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "ace_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06272085809209728,
                      0.013751596064537935,
                      0.8309988977536109
                    ],
                    "orientation": [
                      0.4999999992914259,
                      -0.5000000034036426,
                      0.5000000007085759,
                      0.49999999659635536
                    ],
                    "class": "Poker",
                    "value": "ace",
                    "suite": "spades"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 5 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "5_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 5 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "ace_of_spades": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 84,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.07758454233407974,
              0.18649587631225584,
              0.9335163521766663
            ],
            "target_euler": [
              3.0949952602386475,
              -0.020284168422222137,
              -0.10377418994903564
            ],
            "joint_target": [
              -0.1336432612364832,
              0.41398518979817733,
              0.2771958488091633,
              -2.0210993010906977,
              -0.1707348419096138,
              2.3633190338669006,
              -3.5744220964998985
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.0771292157453228,
              0.18268172624249507,
              0.9201948489271151
            ],
            "ee_path_m": 0.8162205905338809,
            "joint_path_rad": 4.434313063739716,
            "native_success": true,
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              "card_holder0": 2.3288368239368463e-06,
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          "initial_physics_sha256": "b544aacf181d7de3f95bf31e0f977939ae25e68a955f7fff2f85799af1d361f8",
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_9",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
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                "components": [
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                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
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                    "class": "Table",
                    "materials": [
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                  {
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                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
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                    "value": "10",
                    "suite": "clubs"
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                  {
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                  {
                    "name": "7_of_hearts",
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                    "position": [
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                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
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                ],
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                "instructions": [
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                ],
                "conditions": {
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                    ],
                    "robot": "franka"
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                  "lift": {
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                    "target_height": 0.9
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                },
                "target_entity": [
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                "target_container": null
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          },
          "instruction": "Please pick the poker 10 of clubs",
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              "card_holder1": 0.0,
              "10_of_clubs": 0.0,
              "card_holder2": 0.0,
              "7_of_hearts": 0.0
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                "card_holder1": 0.00011724890157197566,
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                "7_of_hearts": 1.458522072865955e-06
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          },
          "steps": 75,
          "simulator_steps": 75,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "alternative_entity": null,
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          "initial_physics_sha256": "9887d1e17711416b5e3e7ee8deda3ac722e5d5bd5bf265fbec8abb6a66e193fd",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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          "hold": {
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        },
        {
          "kind": "native",
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          "policy_seed": 11,
          "id": "seed11_select_toy_0",
          "row": {
            "task": "select_toy",
            "seed": 42,
            "track_index": 0,
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                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
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                    "class": "Table",
                    "materials": [
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                  },
                  {
                    "name": "giftbox_seen",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml",
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            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed1.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "7 man",
            "alternative_surface": "3 man",
            "requested_entity": "7_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 7 man",
            "source_text": "Pick up the mahjong of 7 man",
            "text_hash_en": "92c752bde606121cc042a44c10cc534fed6375cd97608c6df7b8d89739b9ffea"
          },
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          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
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          "id": "seed29_select_poker_0",
          "row": {
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                "jack_of_hearts": 0.09864411033782959,
                "card_holder3": 2.379569619237118e-08,
                "9_of_spades": 2.378870881238956e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "ace_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "ace_of_hearts"
          ],
          "initial_physics_sha256": "339b19645ae708790791e552f644cbde01605e01ef97b9e0466fb54e33252e9d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "ebb5c56987e2a62b0285dda51f4268891be45b80efbd020b6a33d7aa63717eaf",
          "observation_matches_upstream": true,
          "wall_s": 8.864846804004628,
          "ee_path_m": 2.7690216851272487,
          "joint_path_rad": 11.921373250644793,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 20.943904394996935,
          "compiled_physics_parameters_sha256": "5d20cb7a3fae28203061b1aa2b6177edd35c7677352795ea2a558653616616c9",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_1",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -8.966142902813692e-15,
                      -1.2332859642485835e-12,
                      -7.872541649825789e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.2023929677799605e-09,
                      4.516085765456397e-11,
                      1.3470521785538065e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.1833903621740975,
                      0.1892740131511156,
                      0.765998989309076
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259090152e-09,
                      4.4176978124116555e-09,
                      0.7071067811865461
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18339036263735997,
                      0.18927394952249763,
                      0.8309988868433503
                    ],
                    "orientation": [
                      0.49999999685195073,
                      -0.5000000031029258,
                      0.5000000031480504,
                      0.4999999968970729
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.0608359822106072,
                      0.11304565431153674,
                      0.7659989902436128
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259047346e-09,
                      4.417697812495295e-09,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06083598267386951,
                      0.11304559068291985,
                      0.830998887777851
                    ],
                    "orientation": [
                      0.49999999685194974,
                      -0.500000003102927,
                      0.5000000031480496,
                      0.4999999968970738
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0741595643643782,
                      0.056578099278987666,
                      0.7659989909318947
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259164623e-09,
                      4.417697812427819e-09,
                      0.7071067811865454
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07415956390111549,
                      0.05657803565037027,
                      0.8309988884661065
                    ],
                    "orientation": [
                      0.4999999968519501,
                      -0.5000000031029264,
                      0.5000000031480499,
                      0.4999999968970734
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.17334448768784513,
                      0.091263319360156,
                      0.765998990492669
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.3538312591097935e-09,
                      4.41769781238297e-09,
                      0.7071067811865466
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.1733444872245828,
                      0.09126325573153812,
                      0.8309988880268976
                    ],
                    "orientation": [
                      0.49999999685195057,
                      -0.5000000031029265,
                      0.5000000031480504,
                      0.4999999968970733
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 8 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "8_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 8 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "2_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "8_of_clubs": 0.0,
              "card_holder3": 0.0,
              "queen_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.14408938586711884,
              0.07427421808242796,
              0.9888663280010224
            ],
            "target_euler": [
              3.0148792266845703,
              -0.016303937882184982,
              -0.16073065996170044
            ],
            "joint_target": [
              0.6156253076583236,
              0.09030994746321268,
              -0.3314847738156082,
              -2.2998355146534446,
              0.08956760916425613,
              2.2616767400821653,
              -3.5437775789096966
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.14093358737049838,
              0.0709318536978745,
              0.9897825136416426
            ],
            "ee_path_m": 2.5920093064149876,
            "joint_path_rad": 12.743433977348044,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.0320127611529234e-09,
              "card_holder0": 1.0648084435340502e-09,
              "2_of_hearts": 1.0650370178199023e-09,
              "card_holder1": 1.0528024466457639e-09,
              "5_of_hearts": 1.0529090595844811e-09,
              "card_holder2": 1.6802483285757238e-08,
              "8_of_clubs": 0.08325603715052624,
              "card_holder3": 9.705738047526547e-08,
              "queen_of_diamonds": 0.059840661685881445
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.12208005040884018,
                0.03823933601379392,
                0.9346508073806763
              ],
              "target_euler": [
                3.073359966278076,
                -0.015744023025035858,
                0.0003058314323425293
              ],
              "joint_target": [
                0.2862469835489502,
                0.08888253393016364,
                -0.5431226096088893,
                -2.5080162026392663,
                0.022946805834119954,
                2.522019020488876,
                -4.2032025415196905
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.12112905258443449,
                0.0351763085168036,
                0.9238904710515168
              ],
              "ee_path_m": 0.6181411607229872,
              "joint_path_rad": 4.436657562427245,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.0320127283718252e-09,
                "card_holder0": 1.064411910964656e-09,
                "2_of_hearts": 1.0643695398882824e-09,
                "card_holder1": 1.052473541036828e-09,
                "5_of_hearts": 1.0524005668686272e-09,
                "card_holder2": 1.5278467893104259e-09,
                "8_of_clubs": 0.0831372187634253,
                "card_holder3": 8.069709441940733e-08,
                "queen_of_diamonds": 0.059571497447434646
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.00994395837187767,
                0.06027302742004392,
                0.9214297819137574
              ],
              "target_euler": [
                3.0140504837036133,
                -0.019001346081495285,
                0.06681644916534424
              ],
              "joint_target": [
                0.43313953645562936,
                0.15392829507838376,
                -0.3974996806769864,
                -2.4460202238600193,
                0.058034543073505834,
                2.4602393818501174,
                -4.00471966511697
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.008768020170078229,
                0.05457615093454473,
                0.9206234062007882
              ],
              "ee_path_m": 0.9866038960014599,
              "joint_path_rad": 5.950953284562697,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.0320126692466433e-09,
                "card_holder0": 1.0645173505475143e-09,
                "2_of_hearts": 1.0645415808360552e-09,
                "card_holder1": 1.0525595700303103e-09,
                "5_of_hearts": 1.0525282162173837e-09,
                "card_holder2": 3.889723664015331e-09,
                "8_of_clubs": 0.08317136204665374,
                "card_holder3": 8.507455355334956e-08,
                "queen_of_diamonds": 0.05964843397607997
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.14408938586711884,
                0.07427421808242796,
                0.9888663280010224
              ],
              "target_euler": [
                3.0148792266845703,
                -0.016303937882184982,
                -0.16073065996170044
              ],
              "joint_target": [
                0.6156253076583236,
                0.09030994746321268,
                -0.3314847738156082,
                -2.2998355146534446,
                0.08956760916425613,
                2.2616767400821653,
                -3.5437775789096966
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.14093358737049838,
                0.0709318536978745,
                0.9897825136416426
              ],
              "ee_path_m": 2.5920093064149876,
              "joint_path_rad": 12.743433977348044,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.0320127611529234e-09,
                "card_holder0": 1.0648084435340502e-09,
                "2_of_hearts": 1.0650370178199023e-09,
                "card_holder1": 1.0528024466457639e-09,
                "5_of_hearts": 1.0529090595844811e-09,
                "card_holder2": 1.6802483285757238e-08,
                "8_of_clubs": 0.08325603715052624,
                "card_holder3": 9.705738047526547e-08,
                "queen_of_diamonds": 0.059840661685881445
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "8_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "8_of_clubs"
          ],
          "initial_physics_sha256": "401a81724d79cf7b156be5ffb1bc121d198cf65c6c388df20bb9d259b22be413",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "66c62b893f83d4cf8056ac2f071455efa009995ce44326a8720a03d87086ff19",
          "observation_matches_upstream": true,
          "wall_s": 9.064225508998788,
          "ee_path_m": 2.5920093064149876,
          "joint_path_rad": 12.743433977348044,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "queen_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 18.22959406600421,
          "compiled_physics_parameters_sha256": "b25b2bbb0bd43d7917183652c55d497be226c1996da24957c2e635a5a9e9587d",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_2",
          "row": {
            "task": "select_poker",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      1.2453404370727793e-13,
                      -7.412892325855532e-13,
                      -7.872541655946741e-07
                    ],
                    "orientation": [
                      1.0,
                      -3.728310467759129e-09,
                      -6.260660722252706e-10,
                      -4.265552169405024e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.2205967619815587,
                      0.024583897840483655,
                      0.7659989911809051
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116655678967e-09,
                      2.19362807607307e-09,
                      0.7071067811865467
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22059675555973354,
                      0.024583859592760073,
                      0.8309988887151056
                    ],
                    "orientation": [
                      0.4999999984340172,
                      -0.5000000021915298,
                      0.5000000015659848,
                      0.4999999978084684
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06211185324907401,
                      0.07745700588295698,
                      0.7659989909850923
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116657008755e-09,
                      2.1936280760673635e-09,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06211184682724876,
                      0.0774569676352338,
                      0.8309988885193005
                    ],
                    "orientation": [
                      0.4999999984340156,
                      -0.5000000021915315,
                      0.5000000015659833,
                      0.4999999978084698
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0633687424154539,
                      0.023341998300958226,
                      0.7659989915457316
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.079011665669035e-09,
                      2.1936280759991955e-09,
                      0.707106781186547
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06336874883727882,
                      0.023341960053234773,
                      0.8309988890799179
                    ],
                    "orientation": [
                      0.49999999843401627,
                      -0.5000000021915308,
                      0.5000000015659838,
                      0.49999999780846943
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.1739008663808682,
                      0.14521270026197677,
                      0.7659989907753807
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116656240354e-09,
                      2.193628076042048e-09,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.17390087280269334,
                      0.1452126620142527,
                      0.830998888309597
                    ],
                    "orientation": [
                      0.49999999843401594,
                      -0.5000000021915313,
                      0.5000000015659833,
                      0.4999999978084701
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 4 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "4_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "4_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "4_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 4 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_diamonds": 0.0,
              "card_holder1": 0.0,
              "9_of_spades": 0.0,
              "card_holder2": 0.0,
              "8_of_hearts": 0.0,
              "card_holder3": 0.0,
              "4_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 74,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.1947878897190094,
              0.13876918554306028,
              0.9412549424171448
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            "target_euler": [
              3.0723912715911865,
              -0.007029775530099869,
              -0.03489810228347778
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            "joint_target": [
              -0.026018029214346636,
              0.36168881197723,
              -0.32252749308804096,
              -2.0830920219343843,
              0.12126453284706316,
              2.3595187318236803,
              -4.314218155966433
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            "gripper": [
              0.0,
              0.0
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            "ee_position": [
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              0.13535766902017668,
              0.9291029320439967
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            "ee_path_m": 0.6598130973319665,
            "joint_path_rad": 3.9443979823232493,
            "native_success": true,
            "simulation_time_s": 9.40000000000023,
            "object_displacement_m": {
              "table": 3.713440117683009e-07,
              "card_holder0": 3.492027966874648e-07,
              "4_of_diamonds": 3.4920134942910356e-07,
              "card_holder1": 3.6400071263687827e-07,
              "9_of_spades": 3.639992477752591e-07,
              "card_holder2": 3.772143006307495e-07,
              "8_of_hearts": 3.7721282883145894e-07,
              "card_holder3": 2.6639133944474497e-05,
              "4_of_hearts": 0.07895589064651348
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            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "4_of_hearts"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.19438286125659943,
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                0.8517087537050247
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              "target_euler": [
                3.1002659797668457,
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                -0.061787307262420654
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              "joint_target": [
                -0.06798197985105055,
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                0.21295893668774024,
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              "ee_path_m": 0.5722379813827252,
              "joint_path_rad": 3.524321301205757,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 9.094162464734442e-08,
                "card_holder0": 8.211796231594198e-08,
                "4_of_diamonds": 8.183028040989957e-08,
                "card_holder1": 8.543967534040989e-08,
                "9_of_spades": 8.516920513881835e-08,
                "card_holder2": 8.832914519428119e-08,
                "8_of_hearts": 8.805302289026625e-08,
                "card_holder3": 6.361660864407837e-06,
                "4_of_hearts": 0.005315720412283346
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              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_hearts"
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            },
            "100": {
              "step": 74,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                0.9412549424171448
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              "target_euler": [
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                -0.007029775530099869,
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              "joint_target": [
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              "gripper": [
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              "ee_path_m": 0.6598130973319665,
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              "native_success": true,
              "simulation_time_s": 9.40000000000023,
              "object_displacement_m": {
                "table": 3.713440117683009e-07,
                "card_holder0": 3.492027966874648e-07,
                "4_of_diamonds": 3.4920134942910356e-07,
                "card_holder1": 3.6400071263687827e-07,
                "9_of_spades": 3.639992477752591e-07,
                "card_holder2": 3.772143006307495e-07,
                "8_of_hearts": 3.7721282883145894e-07,
                "card_holder3": 2.6639133944474497e-05,
                "4_of_hearts": 0.07895589064651348
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_hearts"
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            },
            "200": {
              "step": 74,
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              "joint_path_rad": 3.9443979823232493,
              "native_success": true,
              "simulation_time_s": 9.40000000000023,
              "object_displacement_m": {
                "table": 3.713440117683009e-07,
                "card_holder0": 3.492027966874648e-07,
                "4_of_diamonds": 3.4920134942910356e-07,
                "card_holder1": 3.6400071263687827e-07,
                "9_of_spades": 3.639992477752591e-07,
                "card_holder2": 3.772143006307495e-07,
                "8_of_hearts": 3.7721282883145894e-07,
                "card_holder3": 2.6639133944474497e-05,
                "4_of_hearts": 0.07895589064651348
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_hearts"
              ]
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          },
          "steps": 74,
          "simulator_steps": 74,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "4_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "4_of_hearts"
          ],
          "initial_physics_sha256": "2a0421213e0694417da367d315846ffdaee6de5045efc4ed613511b74d7dca8a",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "a386fb575532a7ae7970eb44edd0bb4b5b745214dae709c2110e6dda8a5c92d9",
          "observation_matches_upstream": true,
          "wall_s": 3.6776841949977097,
          "ee_path_m": 0.6598130973319665,
          "joint_path_rad": 3.9443979823232493,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "4_of_hearts"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 16.68793118800386,
          "compiled_physics_parameters_sha256": "34b571b23be28cd49fc75986e790eee4e1155e2a1b603028e18f90eaacbcc72a",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 58
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_3",
          "row": {
            "task": "select_poker",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      3.789724152025814e-13,
                      -7.666613412025772e-13,
                      -7.789010675591938e-07
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                    "orientation": [
                      1.0,
                      -4.393147707564248e-09,
                      -2.1707242623472702e-09,
                      -1.2414525400636481e-17
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
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                    "orientation": [
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                      1.5715111343539685e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.15881049925149912,
                      0.11944397416928333,
                      0.8309988957885945
                    ],
                    "orientation": [
                      0.49999999887068247,
                      -0.5000000032982417,
                      0.5000000011293158,
                      0.49999999670176
                    ],
                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                      0.7659989991714484
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                    "orientation": [
                      0.7071067811865476,
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                      1.5715111344216344e-09,
                      0.7071067811865475
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                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.05715997332156493,
                      0.8309988967053403
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                    "orientation": [
                      0.49999999887068275,
                      -0.5000000032982413,
                      0.5000000011293161,
                      0.4999999967017596
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                    "class": "Poker",
                    "value": "3",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                      0.7659989990692347
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                    "orientation": [
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                      1.571511134413264e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07495709020763787,
                      0.1422443435896006,
                      0.8309988966031306
                    ],
                    "orientation": [
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                      -0.5000000032982398,
                      0.5000000011293173,
                      0.4999999967017582
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                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
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                    0.0,
                    0.0
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                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
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                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 7 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
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                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "7_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 7 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "7_of_hearts": 0.0,
              "card_holder1": 0.0,
              "3_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 74,
            "substeps": 1,
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            "target_euler": [
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            "gripper": [
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            "ee_path_m": 0.659900062667726,
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              "table": 1.5040974550580121e-06,
              "card_holder0": 0.006744536176257342,
              "7_of_hearts": 0.0751950411927359,
              "card_holder1": 1.5360433658440275e-06,
              "3_of_hearts": 1.5360510739863572e-06,
              "card_holder2": 1.4835138080420679e-06,
              "jack_of_diamonds": 1.4835213288208458e-06
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            "task_progress": 1.0,
            "intention_score": 1.0,
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          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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              "ee_path_m": 0.5576900205400543,
              "joint_path_rad": 3.525148635570379,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 8.849072987123624e-07,
                "card_holder0": 0.0026832516108087614,
                "7_of_hearts": 0.017955821482759978,
                "card_holder1": 9.424449390006488e-07,
                "3_of_hearts": 9.460661628510337e-07,
                "card_holder2": 9.12358937751735e-07,
                "jack_of_diamonds": 9.159847577644813e-07
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              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
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            },
            "100": {
              "step": 74,
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              "target_euler": [
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              "joint_target": [
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              "ee_path_m": 0.659900062667726,
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              "native_success": true,
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              "object_displacement_m": {
                "table": 1.5040974550580121e-06,
                "card_holder0": 0.006744536176257342,
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                "card_holder1": 1.5360433658440275e-06,
                "3_of_hearts": 1.5360510739863572e-06,
                "card_holder2": 1.4835138080420679e-06,
                "jack_of_diamonds": 1.4835213288208458e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
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            "200": {
              "step": 74,
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              "ee_position": [
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              "ee_path_m": 0.659900062667726,
              "joint_path_rad": 3.960276159150953,
              "native_success": true,
              "simulation_time_s": 9.40000000000023,
              "object_displacement_m": {
                "table": 1.5040974550580121e-06,
                "card_holder0": 0.006744536176257342,
                "7_of_hearts": 0.0751950411927359,
                "card_holder1": 1.5360433658440275e-06,
                "3_of_hearts": 1.5360510739863572e-06,
                "card_holder2": 1.4835138080420679e-06,
                "jack_of_diamonds": 1.4835213288208458e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "7_of_hearts"
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          },
          "steps": 74,
          "simulator_steps": 74,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "7_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
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          ],
          "initial_physics_sha256": "4f73f82f5780df87d49802fea7a0ce90af32e09917a271a7e9b88f8acf135ca1",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "d7d475b1055f2b8a2182df21752a915bfebff589934c546aa4a378799920c9f0",
          "observation_matches_upstream": true,
          "wall_s": 3.5310616839997238,
          "ee_path_m": 0.659900062667726,
          "joint_path_rad": 3.960276159150953,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "7_of_hearts"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 12.386990378996416,
          "compiled_physics_parameters_sha256": "1f85542eca6570f2ee4096ab955aec38518daba68a72b55c6f20b5d66949d5cd",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 53
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_4",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.542749798055852e-13,
                      -4.4897256357510424e-13,
                      -7.789010678285046e-07
                    ],
                    "orientation": [
                      1.0,
                      -2.572858804444268e-09,
                      -2.602040912461551e-09,
                      -8.532489215714537e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.18767530951069145,
                      0.08074528299367634,
                      0.7659989986014384
                    ],
                    "orientation": [
                      0.7071067811865475,
                      -3.6591953290127157e-09,
                      -2.0614878104259223e-11,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18767528281960347,
                      0.08074525659853957,
                      0.8309988961353516
                    ],
                    "orientation": [
                      0.5000000000034353,
                      -0.5000000025964476,
                      0.4999999999965628,
                      0.4999999974035538
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.05513235894890264,
                      0.022600027141975555,
                      0.7659989995904121
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.6591953290326665e-09,
                      -2.0614878074598264e-11,
                      0.7071067811865477
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05513233225781521,
                      0.022600000746839693,
                      0.830998897124287
                    ],
                    "orientation": [
                      0.5000000000034364,
                      -0.500000002596447,
                      0.49999999999656414,
                      0.49999999740355283
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05395523079590979,
                      0.08338912900350204,
                      0.7659989998453118
                    ],
                    "orientation": [
                      0.707106781186547,
                      -3.659195329021801e-09,
                      -2.06148781947021e-11,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05395525748699711,
                      0.08338910260836513,
                      0.8309988973791771
                    ],
                    "orientation": [
                      0.5000000000034368,
                      -0.5000000025964465,
                      0.49999999999656414,
                      0.49999999740355283
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker king of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "king_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker king of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_clubs": 0.0,
              "card_holder1": 0.0,
              "king_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "9_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.11415708065032959,
              -0.002946370840072654,
              1.0061416763067246
            ],
            "target_euler": [
              3.0846197605133057,
              -0.025314727798104286,
              0.0681236982345581
            ],
            "joint_target": [
              0.3801050590019523,
              -0.2020918835671656,
              -0.09748187554819308,
              -2.6027294654134026,
              -0.04454563893351255,
              2.3399750319987778,
              -3.678025859660475
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.10538692243407768,
              0.0019127352766073191,
              1.0028472753529185
            ],
            "ee_path_m": 2.326549883420219,
            "joint_path_rad": 10.769119380577774,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.0173843799089978e-08,
              "card_holder0": 1.0285843815816676e-08,
              "king_of_clubs": 1.0281537364883952e-08,
              "card_holder1": 7.739115581954108e-07,
              "king_of_diamonds": 0.05962222084514495,
              "card_holder2": 1.0290299421775764e-08,
              "9_of_hearts": 1.0286077383385474e-08
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.12256613373756409,
                0.058072513341903664,
                0.9547981756925583
              ],
              "target_euler": [
                3.077695608139038,
                -0.03585996478796005,
                0.0046402812004089355
              ],
              "joint_target": [
                0.3537624896959595,
                0.07905070779406628,
                -0.08722359229728148,
                -2.430545195917038,
                -0.01732111995317246,
                2.4382281128449868,
                -3.651107088117528
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              "gripper": [
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                0.0
              ],
              "ee_position": [
                -0.12228881307152231,
                0.05480525977563699,
                0.9434797498628793
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              "ee_path_m": 0.6275541074815707,
              "joint_path_rad": 3.423365893310497,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 9.46083991229542e-19,
                "card_holder0": 2.2970149489377015e-12,
                "king_of_clubs": 3.4626690400111754e-12,
                "card_holder1": 2.2829851496845467e-12,
                "king_of_diamonds": 3.402733748341454e-12,
                "card_holder2": 2.2670121430193837e-12,
                "9_of_hearts": 3.4030979880923925e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.0016947622643783689,
                -0.01908647418022158,
                1.010449303984642
              ],
              "target_euler": [
                2.9909377098083496,
                -0.0322575718164444,
                0.07560127973556519
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              "joint_target": [
                0.26592033648387525,
                -0.27229405178095034,
                -0.25045004746615174,
                -2.6348651215742858,
                -0.13242587628398964,
                2.216827075359285,
                -3.8836943064212606
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              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.0014275249244380724,
                -0.026762944418344037,
                1.0125622177653717
              ],
              "ee_path_m": 1.0914048416700435,
              "joint_path_rad": 5.390990510355053,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.2480787421467488e-18,
                "card_holder0": 3.8283582482295026e-12,
                "king_of_clubs": 5.7710894387700654e-12,
                "card_holder1": 3.805036222994118e-12,
                "king_of_diamonds": 5.6712571360185266e-12,
                "card_holder2": 3.7783535716989726e-12,
                "9_of_hearts": 5.671797384318608e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.11415708065032959,
                -0.002946370840072654,
                1.0061416763067246
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              "target_euler": [
                3.0846197605133057,
                -0.025314727798104286,
                0.0681236982345581
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              "joint_target": [
                0.3801050590019523,
                -0.2020918835671656,
                -0.09748187554819308,
                -2.6027294654134026,
                -0.04454563893351255,
                2.3399750319987778,
                -3.678025859660475
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              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.10538692243407768,
                0.0019127352766073191,
                1.0028472753529185
              ],
              "ee_path_m": 2.326549883420219,
              "joint_path_rad": 10.769119380577774,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.0173843799089978e-08,
                "card_holder0": 1.0285843815816676e-08,
                "king_of_clubs": 1.0281537364883952e-08,
                "card_holder1": 7.739115581954108e-07,
                "king_of_diamonds": 0.05962222084514495,
                "card_holder2": 1.0290299421775764e-08,
                "9_of_hearts": 1.0286077383385474e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "king_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "king_of_clubs"
          ],
          "initial_physics_sha256": "d3c4ef3a6ba89aaddcabbb3ab17c8d7336dda841bfb53d1997b7174ee156ab7c",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "2880da9836a512a63cbc5f3576689a114472875f888a77ad5154d220b2cd1708",
          "observation_matches_upstream": true,
          "wall_s": 8.932915510995372,
          "ee_path_m": 2.326549883420219,
          "joint_path_rad": 10.769119380577774,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "king_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 22.146224517004157,
          "compiled_physics_parameters_sha256": "cd03eb4ffa35c6bde0edc03d97c661d03c9387794b64e106130cee977a4942e3",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_5",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -4.518849811053046e-14,
                      -1.3734859347746658e-12,
                      -7.87254164747005e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.907338010928561e-09,
                      2.2732595695747078e-10,
                      1.8605104750660698e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.19131640784004358,
                      0.1980019992654107,
                      0.7659989889920613
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.723494782654896e-09,
                      5.044979495745809e-09,
                      0.7071067811865471
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19131641017187384,
                      0.1980019284049921,
                      0.8309988865263485
                    ],
                    "orientation": [
                      0.49999999640571113,
                      -0.5000000033671516,
                      0.5000000035942916,
                      0.4999999966328458
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.05432821628843378,
                      0.16717705737414396,
                      0.7659989893556197
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.723494782681899e-09,
                      5.044979495682341e-09,
                      0.7071067811865469
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05432821862026466,
                      0.1671769865137246,
                      0.8309988868898929
                    ],
                    "orientation": [
                      0.4999999964057097,
                      -0.500000003367153,
                      0.5000000035942905,
                      0.49999999663284705
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.060198456808577945,
                      0.12740508690092883,
                      0.7659989898529921
                    ],
                    "orientation": [
                      0.707106781186546,
                      -4.723494782554431e-09,
                      5.0449794958084284e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06019845447674782,
                      0.12740501604051027,
                      0.8309988873872459
                    ],
                    "orientation": [
                      0.49999999640571013,
                      -0.5000000033671523,
                      0.5000000035942906,
                      0.49999999663284667
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.20194516115587058,
                      0.008740882174810847,
                      0.7659989914278703
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.7234947825609135e-09,
                      5.044979495770393e-09,
                      0.7071067811865474
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.20194515882404016,
                      0.008740811314393259,
                      0.8309988889620633
                    ],
                    "orientation": [
                      0.49999999640571013,
                      -0.5000000033671527,
                      0.5000000035942908,
                      0.49999999663284683
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker jack of diamonds"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "jack_of_diamonds"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker jack of diamonds",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "queen_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_hearts": 0.0,
              "card_holder2": 0.0,
              "6_of_clubs": 0.0,
              "card_holder3": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.09618428349494934,
              0.027047342061996438,
              1.0341218400001526
            ],
            "target_euler": [
              2.9737348556518555,
              -0.13084815442562103,
              -0.25712862610816956
            ],
            "joint_target": [
              0.7139015345732148,
              -0.11972325075279681,
              -0.4742672139858632,
              -2.3872599832755292,
              -0.09834701565721038,
              2.0680232672643535,
              -3.3551720286798674
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.09209936129804654,
              0.024982694378789742,
              1.0357137626706476
            ],
            "ee_path_m": 3.2158280159834276,
            "joint_path_rad": 27.49656475065981,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.051021034230368e-09,
              "card_holder0": 1.0425768478594323e-09,
              "queen_of_spades": 1.0418419627000017e-09,
              "card_holder1": 1.0440584676006657e-09,
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                  {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22159408794332378,
                      0.07013858955458034,
                      0.8309988882564122
                    ],
                    "orientation": [
                      0.4999999976470657,
                      -0.5000000028046608,
                      0.5000000023529358,
                      0.4999999971953378
                    ],
                    "class": "Poker",
                    "value": "10",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06397785497318992,
                      0.07305675226437446,
                      0.7659989908348444
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917287759e-09,
                      3.2989546877274984e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.063977850335785,
                      0.07305669976523622,
                      0.8309988883690591
                    ],
                    "orientation": [
                      0.4999999976470649,
                      -0.5000000028046615,
                      0.5000000023529362,
                      0.4999999971953374
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05492023439563817,
                      0.03904483541805253,
                      0.7659989912904697
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.9383169172991586e-09,
                      3.2989546876022165e-09,
                      0.7071067811865482
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05492023903304272,
                      0.03904478291891425,
                      0.8309988888246669
                    ],
                    "orientation": [
                      0.49999999764706304,
                      -0.5000000028046634,
                      0.5000000023529344,
                      0.4999999971953392
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.19783883614347678,
                      0.18918167358242372,
                      0.7659989898830285
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.93831691733311e-09,
                      3.2989546876239143e-09,
                      0.7071067811865485
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.19783884078088182,
                      0.189181621083284,
                      0.8309988874172801
                    ],
                    "orientation": [
                      0.4999999976470659,
                      -0.5000000028046607,
                      0.5000000023529361,
                      0.4999999971953377
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of spades"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_spades"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of spades",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "10_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "3_of_spades": 0.0,
              "card_holder3": 0.0,
              "6_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.1676144152879715,
              -0.0809249818325043,
              1.077106921672821
            ],
            "target_euler": [
              3.1206202507019043,
              0.09709160029888153,
              -0.10880255699157715
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            "joint_target": [
              0.12834071689079823,
              -0.5815430587598036,
              0.31881452358797313,
              -2.7244318614727874,
              0.32662083376456574,
              2.170470176175072,
              -3.6049499428702845
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.16320106572795146,
              -0.07639363221532666,
              1.0763662807608612
            ],
            "ee_path_m": 2.378631433022794,
            "joint_path_rad": 10.903509478004734,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 7.393898174575779e-07,
              "card_holder0": 0.00019669985613581512,
              "10_of_spades": 0.18296033215072893,
              "card_holder1": 7.620743907266505e-07,
              "2_of_diamonds": 7.620725572258204e-07,
              "card_holder2": 7.379260729382984e-07,
              "3_of_spades": 7.379243377728743e-07,
              "card_holder3": 7.44773716816657e-07,
              "6_of_hearts": 7.4477219024152e-07
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.1797577142715454,
                0.08577848076820371,
                0.8284207272529602
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              "target_euler": [
                3.1107780933380127,
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                -0.1227421760559082
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              "joint_target": [
                0.2771205432976242,
                0.47318958251926246,
                0.06844731006781482,
                -2.2884022581328725,
                -0.0670390526479218,
                2.727493593726434,
                -3.4044884096444754
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              "gripper": [
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                0.0
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              "ee_position": [
                -0.17976808094754237,
                0.08700441746858356,
                0.8291217443201466
              ],
              "ee_path_m": 0.5776443353771441,
              "joint_path_rad": 2.979957768453845,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 5.947365928543243e-07,
                "card_holder0": 4.997527940861771e-05,
                "10_of_spades": 0.0417721902895512,
                "card_holder1": 6.208230001057416e-07,
                "2_of_diamonds": 6.216328652124781e-07,
                "card_holder2": 6.005612807270222e-07,
                "3_of_spades": 6.013887795839985e-07,
                "card_holder3": 6.038285002199126e-07,
                "6_of_hearts": 6.047091009999181e-07
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.11513974517583847,
                -0.006118470430374168,
                1.0394890296459198
              ],
              "target_euler": [
                3.0939745903015137,
                -0.008782722055912018,
                -0.03688061237335205
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              "joint_target": [
                0.19302797010654124,
                -0.28188281041287033,
                0.09037409640600413,
                -2.5855627832151575,
                0.04073702203851656,
                2.2563517605843484,
                -3.638002975819382
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                -0.11714630577950146,
                -0.008089127106289812,
                1.0359293496530633
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              "ee_path_m": 0.9629203926808417,
              "joint_path_rad": 4.584465529401289,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 5.946297118450475e-07,
                "card_holder0": 5.028316446388663e-05,
                "10_of_spades": 0.18296023189502342,
                "card_holder1": 6.129184616737294e-07,
                "2_of_diamonds": 6.129174920006195e-07,
                "card_holder2": 5.924771787291621e-07,
                "3_of_spades": 5.924762606504678e-07,
                "card_holder3": 5.950469479910218e-07,
                "6_of_hearts": 5.950461526844682e-07
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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              "target_euler": [
                3.1206202507019043,
                0.09709160029888153,
                -0.10880255699157715
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              "joint_target": [
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                0.31881452358797313,
                -2.7244318614727874,
                0.32662083376456574,
                2.170470176175072,
                -3.6049499428702845
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              "gripper": [
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              "ee_position": [
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                -0.07639363221532666,
                1.0763662807608612
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              "ee_path_m": 2.378631433022794,
              "joint_path_rad": 10.903509478004734,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 7.393898174575779e-07,
                "card_holder0": 0.00019669985613581512,
                "10_of_spades": 0.18296033215072893,
                "card_holder1": 7.620743907266505e-07,
                "2_of_diamonds": 7.620725572258204e-07,
                "card_holder2": 7.379260729382984e-07,
                "3_of_spades": 7.379243377728743e-07,
                "card_holder3": 7.44773716816657e-07,
                "6_of_hearts": 7.4477219024152e-07
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "10_of_spades"
          ],
          "alternative_entity": null,
          "original_entity": [
            "10_of_spades"
          ],
          "initial_physics_sha256": "8624c852e28beead0562dc2c07b4ac27dcf3adf778f7b8c9291e3c024f6bdbcc",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "b913d8922ec692baac7b73db6421a31ceeecc035eefc4b530f1b2dfb41d420fe",
          "observation_matches_upstream": true,
          "wall_s": 8.925700874999166,
          "ee_path_m": 2.378631433022794,
          "joint_path_rad": 10.903509478004734,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "10_of_spades"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 20.483700219992897,
          "compiled_physics_parameters_sha256": "839db11ec264b6db7f6539a456567a0172bb775637919f57c3e012132fa9f4e6",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 59
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_8",
          "row": {
            "task": "select_poker",
            "seed": 50,
            "track_index": 8,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.709315723776263e-13,
                      -7.120539181289097e-13,
                      -7.789010675624339e-07
                    ],
                    "orientation": [
                      1.0,
                      -4.080259255360254e-09,
                      -2.6973053660541255e-09,
                      -1.6492287953422838e-17
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.19723480770496243,
                      0.09267394776934215,
                      0.7659989981733321
                    ],
                    "orientation": [
                      0.7071067811865452,
                      -4.792452507046338e-09,
                      9.779191649668945e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19723478003669684,
                      0.09267390590971358,
                      0.8309988957072625
                    ],
                    "orientation": [
                      0.4999999992914256,
                      -0.5000000034036428,
                      0.5000000007085753,
                      0.49999999659635597
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06125262286530359,
                      0.18971384371089628,
                      0.7659989981150066
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -4.792452506964044e-09,
                      9.779191650154976e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06125259519703843,
                      0.18971380185126765,
                      0.8309988956489393
                    ],
                    "orientation": [
                      0.49999999929142497,
                      -0.5000000034036438,
                      0.5000000007085753,
                      0.4999999965963562
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.06272083042383256,
                      0.013751637924165097,
                      0.7659990002197598
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -4.7924525071209434e-09,
                      9.779191649255241e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "ace_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06272085809209728,
                      0.013751596064537935,
                      0.8309988977536109
                    ],
                    "orientation": [
                      0.4999999992914259,
                      -0.5000000034036426,
                      0.5000000007085759,
                      0.49999999659635536
                    ],
                    "class": "Poker",
                    "value": "ace",
                    "suite": "spades"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 5 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "5_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 5 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "ace_of_spades": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 83,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.0741080641746521,
              0.1789201259613037,
              0.9291848528385163
            ],
            "target_euler": [
              3.074004650115967,
              -0.008340220898389816,
              0.00782996416091919
            ],
            "joint_target": [
              -0.10671497283170339,
              0.40513073982939685,
              0.24208477717648993,
              -2.039621825602193,
              -0.13581333539479168,
              2.3611131870214344,
              -3.715598668995945
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            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.0730525613693119,
              0.17525306404874588,
              0.9170968512887188
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            "ee_path_m": 0.7708968060724476,
            "joint_path_rad": 4.354808092275169,
            "native_success": true,
            "simulation_time_s": 10.29999999999973,
            "object_displacement_m": {
              "table": 2.9591892781517246e-06,
              "card_holder0": 3.0143035687706334e-06,
              "4_of_hearts": 3.014326664750846e-06,
              "card_holder1": 0.013361745010341953,
              "5_of_hearts": 0.07512815874783493,
              "card_holder2": 2.941541887599795e-06,
              "ace_of_spades": 2.9415649632060827e-06
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "5_of_hearts"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.06653830409049988,
                0.18609771728515623,
                0.8482478249073029
              ],
              "target_euler": [
                -3.148090362548828,
                -0.011685043573379517,
                -0.017205238342285156
              ],
              "joint_target": [
                -0.07744223015693277,
                0.5675554555890215,
                0.1858662973249017,
                -2.046709412825363,
                -0.21160040470047337,
                2.588753362610492,
                -3.6491194037759396
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.06642466841357407,
                0.1821564031946515,
                0.8495530378511597
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              "ee_path_m": 0.615398655311931,
              "joint_path_rad": 3.6430969813810505,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 3.657024055013223e-08,
                "card_holder0": 4.20215122656954e-08,
                "4_of_hearts": 4.270509112750788e-08,
                "card_holder1": 1.4256086700326896e-06,
                "5_of_hearts": 0.0010167089738113537,
                "card_holder2": 3.925062643996601e-08,
                "ace_of_spades": 3.9968861647420406e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 83,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                -0.13581333539479168,
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                "card_holder0": 3.0143035687706334e-06,
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                "card_holder1": 0.013361745010341953,
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                "card_holder2": 2.941541887599795e-06,
                "ace_of_spades": 2.9415649632060827e-06
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              "intention_score": 1.0,
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                "5_of_hearts"
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            "200": {
              "step": 83,
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                "card_holder2": 2.941541887599795e-06,
                "ace_of_spades": 2.9415649632060827e-06
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          },
          "steps": 83,
          "simulator_steps": 83,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "5_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "5_of_hearts"
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          "initial_physics_sha256": "b544aacf181d7de3f95bf31e0f977939ae25e68a955f7fff2f85799af1d361f8",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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          "observation_matches_upstream": true,
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            "card_holder1"
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          "hold": {
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            "completed_steps": 10,
            "error": null,
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            "persistent_alternative_only": false,
            "persistent_both": false
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          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 66
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_9",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
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                    "class": "Table",
                    "materials": [
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                  {
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                    "xml_path": null,
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                  {
                    "name": "6_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.8309988938538234
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                    "orientation": [
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                      0.5000000020305819,
                      0.4999999949916455
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                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
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                    "class": "CardHolder"
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                  {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
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                    "class": "Poker",
                    "value": "10",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                    "class": "CardHolder"
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                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
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                ],
                "scene": {
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                  "floor_textures": [
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                },
                "instructions": [
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                ],
                "conditions": {
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                      "10_of_clubs"
                    ],
                    "robot": "franka"
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                  "lift": {
                    "entities": [
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                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
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                ],
                "target_container": null
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            }
          },
          "instruction": "Please pick the poker 10 of clubs",
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              "card_holder0": 0.0,
              "6_of_spades": 0.0,
              "card_holder1": 0.0,
              "10_of_clubs": 0.0,
              "card_holder2": 0.0,
              "7_of_hearts": 0.0
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            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
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          "final": {
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              "card_holder1": 3.274374144526045e-06,
              "10_of_clubs": 0.08053475043113303,
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                "card_holder0": 3.181010493381827e-08,
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                "card_holder1": 2.202994712024132e-06,
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                "card_holder2": 3.253219735624388e-08,
                "7_of_hearts": 3.25962930849665e-08
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                "10_of_clubs": 0.08053475043113303,
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                "card_holder0": 4.58916472454045e-08,
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                "card_holder1": 3.274374144526045e-06,
                "10_of_clubs": 0.08053475043113303,
                "card_holder2": 4.67088232976535e-08,
                "7_of_hearts": 4.670613418947701e-08
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
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          },
          "steps": 72,
          "simulator_steps": 72,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "alternative_entity": null,
          "original_entity": [
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          "initial_physics_sha256": "9887d1e17711416b5e3e7ee8deda3ac722e5d5bd5bf265fbec8abb6a66e193fd",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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          "initial_rgb_sha256": "169364a1b747e2f9f762ca69ede32c3e0fef60d473bca17979ddcf96469afaa0",
          "observation_matches_upstream": true,
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          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_toy_0",
          "row": {
            "task": "select_toy",
            "seed": 42,
            "track_index": 0,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
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                      2.3304283678471674e-10,
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                    "orientation": [
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                      3.995516596393811e-09
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                    "class": "Table",
                    "materials": [
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                    ]
                  },
                  {
                    "name": "giftbox_seen",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml",
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                  {
                    "name": "mickey",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml",
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                    "orientation": [
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                    "class": "Toy"
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                  {
                    "name": "luffy",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Toy"
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                  {
                    "name": "ironman",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Toy"
                  },
                  {
                    "name": "spiderman",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Toy"
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                ],
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        {
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          "condition": "shuffled",
          "instruction": "Pick up the mahjong of 1 pin",
          "donor_state": "attribute__select_mahjong:58b1f91ce63cef712284c783d2e59f6e184c975cda9d245620740f40d9462281",
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_39c7ecf85d42_shuffled",
          "row": {
            "condition_id": "attribute__select_mahjong|39c7ecf85d42|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "39c7ecf85d42a8fe21c12278e4dba9a7cd5feff21c8b50e96a0451e31c049911",
            "scene_seed": 9,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed9.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "7 man",
            "alternative_surface": "1 man",
            "requested_entity": "7_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 7 man",
            "source_text": "Pick up the mahjong of 7 man",
            "text_hash_en": "92c752bde606121cc042a44c10cc534fed6375cd97608c6df7b8d89739b9ffea"
          },
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          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
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          "original_entity": "7_man"
        },
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          "instruction": "Pick up the mahjong of 1 pin",
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          "row": {
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            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
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            "scene_seed": 2,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed2.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "1 pin",
            "alternative_surface": "1 man",
            "requested_entity": "1_pin",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 1 pin",
            "source_text": "Pick up the mahjong of 1 pin",
            "text_hash_en": "250eaef92742d9fe75be74f66481290bd7507fe62d4c4849f4bff898292a1ce8"
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          "instruction": "Pick up the mahjong of 7 man",
          "policy_seed": 47,
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          "row": {
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            "language": "en",
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            "text_hash_en": "92c752bde606121cc042a44c10cc534fed6375cd97608c6df7b8d89739b9ffea"
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          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
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            "requested_surface": "3 man",
            "alternative_surface": "7 man",
            "requested_entity": "3_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 3 man",
            "source_text": "Pick up the mahjong of 3 man",
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                    ],
                    "orientation": [
                      0.7071067811865478,
                      -5.418498345520494e-09,
                      4.718837214032498e-09,
                      0.7071067811865467
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "ace_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.07132329311430258,
                      0.13511619717054665,
                      0.8309988871670383
                    ],
                    "orientation": [
                      0.49999999663501,
                      -0.5000000038593192,
                      0.500000003364991,
                      0.49999999614067986
                    ],
                    "class": "Poker",
                    "value": "ace",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.06448608627030991,
                      0.14452414998650198,
                      0.7659989896322817
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -5.418498345494513e-09,
                      4.7188372140756835e-09,
                      0.7071067811865469
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06448609134506332,
                      0.14452407645034762,
                      0.8309988871665444
                    ],
                    "orientation": [
                      0.49999999663500955,
                      -0.5000000038593198,
                      0.5000000033649904,
                      0.49999999614068064
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.17495944374181277,
                      0.15083575048547707,
                      0.7659989896511078
                    ],
                    "orientation": [
                      0.7071067811865485,
                      -5.418498345461203e-09,
                      4.718837214111333e-09,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.1749594488165663,
                      0.15083567694932148,
                      0.8309988871853697
                    ],
                    "orientation": [
                      0.499999996635009,
                      -0.50000000385932,
                      0.5000000033649893,
                      0.49999999614068147
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker ace of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "ace_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "ace_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "ace_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker ace of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_clubs": 0.0,
              "card_holder1": 0.0,
              "ace_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_hearts": 0.0,
              "card_holder3": 0.0,
              "9_of_spades": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.05818433687090874,
              -0.012616986036300681,
              0.9548039424419403
            ],
            "target_euler": [
              3.039340019226074,
              -0.025732623413205147,
              0.02580738067626953
            ],
            "joint_target": [
              0.1655265818146353,
              -0.12179187478641645,
              -0.012990147862161206,
              -2.6754820592793487,
              -0.022130079533003708,
              2.4488962845006252,
              -3.781791328897763
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.05976172373460805,
              -0.014749077971047516,
              0.9566630283304041
            ],
            "ee_path_m": 2.5415369254410543,
            "joint_path_rad": 10.838530955033411,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.5883531658792295e-06,
              "card_holder0": 1.5567445871691526e-06,
              "king_of_clubs": 1.5567538761763978e-06,
              "card_holder1": 1.5801141675065365e-06,
              "ace_of_hearts": 1.580123404383451e-06,
              "card_holder2": 0.011358183037748432,
              "jack_of_hearts": 0.0687198589063657,
              "card_holder3": 1.621656757813681e-06,
              "9_of_spades": 1.6216660247929364e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.04889645054936409,
                0.1307618975639343,
                0.856156958937645
              ],
              "target_euler": [
                3.102276563644409,
                -0.005554363131523132,
                -0.10336130857467651
              ],
              "joint_target": [
                -0.0047877134344231865,
                0.43243509003039027,
                -0.07971748871065179,
                -2.2451296062618966,
                0.05951054534374654,
                2.6361446437013543,
                -3.954821183126153
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.0416093070925669,
                0.12508910753185087,
                0.8527218853876394
              ],
              "ee_path_m": 0.6032222147829805,
              "joint_path_rad": 3.2472001067754204,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 4.778554478646453e-08,
                "card_holder0": 4.882951677792455e-08,
                "king_of_clubs": 4.882952519471953e-08,
                "card_holder1": 4.933091547594946e-08,
                "ace_of_hearts": 4.9330859422281564e-08,
                "card_holder2": 4.268133240631549e-06,
                "jack_of_hearts": 0.012754648466448871,
                "card_holder3": 4.959967016523042e-08,
                "9_of_spades": 4.95994895889531e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.007085866294801235,
                0.041011369228363015,
                1.0583581912517548
              ],
              "target_euler": [
                3.1182968616485596,
                -0.015310697257518768,
                -0.11288249492645264
              ],
              "joint_target": [
                0.09042144438048742,
                -0.22984668130069277,
                -0.06902769751658662,
                -2.484799606877064,
                -0.03508869082856259,
                2.230025559429082,
                -3.769478778724627
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.0015630652471868168,
                0.042533542587071226,
                1.0488838010103307
              ],
              "ee_path_m": 0.9669339234443376,
              "joint_path_rad": 4.910808526197769,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.5884258074031106e-06,
                "card_holder0": 1.556787691871613e-06,
                "king_of_clubs": 1.5568006734848036e-06,
                "card_holder1": 1.5801646799396969e-06,
                "ace_of_hearts": 1.5801776309528986e-06,
                "card_holder2": 0.01135818538405123,
                "jack_of_hearts": 0.06849066403613674,
                "card_holder3": 1.6217197310719698e-06,
                "9_of_spades": 1.621732717608996e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.05818433687090874,
                -0.012616986036300681,
                0.9548039424419403
              ],
              "target_euler": [
                3.039340019226074,
                -0.025732623413205147,
                0.02580738067626953
              ],
              "joint_target": [
                0.1655265818146353,
                -0.12179187478641645,
                -0.012990147862161206,
                -2.6754820592793487,
                -0.022130079533003708,
                2.4488962845006252,
                -3.781791328897763
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.05976172373460805,
                -0.014749077971047516,
                0.9566630283304041
              ],
              "ee_path_m": 2.5415369254410543,
              "joint_path_rad": 10.838530955033411,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.5883531658792295e-06,
                "card_holder0": 1.5567445871691526e-06,
                "king_of_clubs": 1.5567538761763978e-06,
                "card_holder1": 1.5801141675065365e-06,
                "ace_of_hearts": 1.580123404383451e-06,
                "card_holder2": 0.011358183037748432,
                "jack_of_hearts": 0.0687198589063657,
                "card_holder3": 1.621656757813681e-06,
                "9_of_spades": 1.6216660247929364e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "ace_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "ace_of_hearts"
          ],
          "initial_physics_sha256": "339b19645ae708790791e552f644cbde01605e01ef97b9e0466fb54e33252e9d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "ebb5c56987e2a62b0285dda51f4268891be45b80efbd020b6a33d7aa63717eaf",
          "observation_matches_upstream": true,
          "wall_s": 9.506626321002841,
          "ee_path_m": 2.5415369254410543,
          "joint_path_rad": 10.838530955033411,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "jack_of_hearts"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 19.29153344700171,
          "compiled_physics_parameters_sha256": "5d20cb7a3fae28203061b1aa2b6177edd35c7677352795ea2a558653616616c9",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_1",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -8.966142902813692e-15,
                      -1.2332859642485835e-12,
                      -7.872541649825789e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.2023929677799605e-09,
                      4.516085765456397e-11,
                      1.3470521785538065e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.1833903621740975,
                      0.1892740131511156,
                      0.765998989309076
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259090152e-09,
                      4.4176978124116555e-09,
                      0.7071067811865461
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18339036263735997,
                      0.18927394952249763,
                      0.8309988868433503
                    ],
                    "orientation": [
                      0.49999999685195073,
                      -0.5000000031029258,
                      0.5000000031480504,
                      0.4999999968970729
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.0608359822106072,
                      0.11304565431153674,
                      0.7659989902436128
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259047346e-09,
                      4.417697812495295e-09,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06083598267386951,
                      0.11304559068291985,
                      0.830998887777851
                    ],
                    "orientation": [
                      0.49999999685194974,
                      -0.500000003102927,
                      0.5000000031480496,
                      0.4999999968970738
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0741595643643782,
                      0.056578099278987666,
                      0.7659989909318947
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259164623e-09,
                      4.417697812427819e-09,
                      0.7071067811865454
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07415956390111549,
                      0.05657803565037027,
                      0.8309988884661065
                    ],
                    "orientation": [
                      0.4999999968519501,
                      -0.5000000031029264,
                      0.5000000031480499,
                      0.4999999968970734
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.17334448768784513,
                      0.091263319360156,
                      0.765998990492669
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.3538312591097935e-09,
                      4.41769781238297e-09,
                      0.7071067811865466
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.1733444872245828,
                      0.09126325573153812,
                      0.8309988880268976
                    ],
                    "orientation": [
                      0.49999999685195057,
                      -0.5000000031029265,
                      0.5000000031480504,
                      0.4999999968970733
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 8 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "8_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 8 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "2_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "8_of_clubs": 0.0,
              "card_holder3": 0.0,
              "queen_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.032929159700870514,
              0.14906028509140012,
              0.9724129575490952
            ],
            "target_euler": [
              3.0534512996673584,
              -0.018104232847690582,
              0.13850164413452148
            ],
            "joint_target": [
              0.39970874568060133,
              0.2537490460519789,
              -0.34092262934323064,
              -2.1405229004703012,
              0.07930318721259595,
              2.2918718194643612,
              -4.055225617219739
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.041000126336699666,
              0.146630544560387,
              0.9714858245664244
            ],
            "ee_path_m": 2.4783403912837816,
            "joint_path_rad": 12.433065192766332,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.1969114545713976e-06,
              "card_holder0": 1.1585180728772018e-06,
              "2_of_hearts": 1.1585157971827497e-06,
              "card_holder1": 0.0007382299283456517,
              "5_of_hearts": 1.7460484908938732,
              "card_holder2": 0.002750437159042138,
              "8_of_clubs": 0.18167493338257087,
              "card_holder3": 1.2243321444597407e-06,
              "queen_of_diamonds": 1.2243299738005955e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.10988384485244751,
                0.04605135917663572,
                0.9107409107685089
              ],
              "target_euler": [
                3.068981885910034,
                -0.019695371389389038,
                -0.09876292943954468
              ],
              "joint_target": [
                0.2325325277977235,
                0.16607445518146305,
                -0.45290576336010313,
                -2.4904779844898206,
                0.0816836179686017,
                2.568666725465602,
                -4.116015129007254
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.10931487584074667,
                0.04248069262611368,
                0.9047465368799668
              ],
              "ee_path_m": 0.586023295470369,
              "joint_path_rad": 3.926692669352332,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.2341438142447543e-06,
                "card_holder0": 1.1991934599984396e-06,
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                  {
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        {
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                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.15881049925149912,
                      0.11944397416928333,
                      0.8309988957885945
                    ],
                    "orientation": [
                      0.49999999887068247,
                      -0.5000000032982417,
                      0.5000000011293158,
                      0.49999999670176
                    ],
                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.07369463407369549,
                      0.05716001839115409,
                      0.7659989991714484
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -4.641352680326007e-09,
                      1.5715111344216344e-09,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.07369461180695033,
                      0.05715997332156493,
                      0.8309988967053403
                    ],
                    "orientation": [
                      0.49999999887068275,
                      -0.5000000032982413,
                      0.5000000011293161,
                      0.4999999967017596
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0749570679408933,
                      0.14224438865918912,
                      0.7659989990692347
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.6413526803883e-09,
                      1.571511134413264e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07495709020763787,
                      0.1422443435896006,
                      0.8309988966031306
                    ],
                    "orientation": [
                      0.4999999988706842,
                      -0.5000000032982398,
                      0.5000000011293173,
                      0.4999999967017582
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 7 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "7_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 7 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "7_of_hearts": 0.0,
              "card_holder1": 0.0,
              "3_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.14025276899337769,
              0.06320468187332151,
              0.9742417472600937
            ],
            "target_euler": [
              3.0283679962158203,
              -0.012340273708105087,
              0.036274492740631104
            ],
            "joint_target": [
              0.18001628874504702,
              0.0792132225787232,
              0.11074273293239087,
              -2.356843380556507,
              0.010625559889647416,
              2.322853896765548,
              -3.680151169712542
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.1433524985512455,
              0.0647774978754267,
              0.9733161418056412
            ],
            "ee_path_m": 1.9782161741697497,
            "joint_path_rad": 9.664239824664053,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.2464116846732915e-06,
              "card_holder0": 0.0029969103046693884,
              "7_of_hearts": 0.053297790239488746,
              "card_holder1": 2.291023947797111e-06,
              "3_of_hearts": 2.2910249023837623e-06,
              "card_holder2": 2.2084642404016253e-06,
              "jack_of_diamonds": 2.208465144735615e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.14453110098838806,
                0.10662684440612791,
                0.8294261384010315
              ],
              "target_euler": [
                3.083603620529175,
                -0.009694289416074753,
                -0.10905355215072632
              ],
              "joint_target": [
                0.23368470529494761,
                0.48969703051721913,
                0.039911283418182196,
                -2.2410670073285544,
                -0.014147406405505113,
                2.6729131715294976,
                -3.5361977595396046
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.1434342412277711,
                0.10879921544779687,
                0.8296063421338481
              ],
              "ee_path_m": 0.5531913165132201,
              "joint_path_rad": 3.101793447117879,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 2.015775942472985e-06,
                "card_holder0": 0.00038040217259025004,
                "7_of_hearts": 0.019675200929264874,
                "card_holder1": 2.0969727815709297e-06,
                "3_of_hearts": 2.1005152290651865e-06,
                "card_holder2": 2.022823139902127e-06,
                "jack_of_diamonds": 2.0263789483609123e-06
              },
              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "7_of_hearts"
              ]
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.13402524590492249,
                -0.019898110628128074,
                1.1141435194015503
              ],
              "target_euler": [
                3.1251702308654785,
                -0.003732547163963318,
                -0.14135324954986572
              ],
              "joint_target": [
                0.28175436339948196,
                -0.42805093034461145,
                0.05293304292944502,
                -2.5181887542658465,
                0.02977201855544491,
                2.074144019686159,
                -3.471240538135415
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.12863032740926938,
                -0.016932212950506786,
                1.1064391131725098
              ],
              "ee_path_m": 1.002193198145743,
              "joint_path_rad": 5.066763743517037,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.245966909781479e-06,
                "card_holder0": 0.002996869810751352,
                "7_of_hearts": 0.06064840995613763,
                "card_holder1": 2.290555904836897e-06,
                "3_of_hearts": 2.290558960914764e-06,
                "card_holder2": 2.2080052495582576e-06,
                "jack_of_diamonds": 2.208008268967384e-06
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.14025276899337769,
                0.06320468187332151,
                0.9742417472600937
              ],
              "target_euler": [
                3.0283679962158203,
                -0.012340273708105087,
                0.036274492740631104
              ],
              "joint_target": [
                0.18001628874504702,
                0.0792132225787232,
                0.11074273293239087,
                -2.356843380556507,
                0.010625559889647416,
                2.322853896765548,
                -3.680151169712542
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.1433524985512455,
                0.0647774978754267,
                0.9733161418056412
              ],
              "ee_path_m": 1.9782161741697497,
              "joint_path_rad": 9.664239824664053,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.2464116846732915e-06,
                "card_holder0": 0.0029969103046693884,
                "7_of_hearts": 0.053297790239488746,
                "card_holder1": 2.291023947797111e-06,
                "3_of_hearts": 2.2910249023837623e-06,
                "card_holder2": 2.2084642404016253e-06,
                "jack_of_diamonds": 2.208465144735615e-06
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "7_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "7_of_hearts"
          ],
          "initial_physics_sha256": "4f73f82f5780df87d49802fea7a0ce90af32e09917a271a7e9b88f8acf135ca1",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "d7d475b1055f2b8a2182df21752a915bfebff589934c546aa4a378799920c9f0",
          "observation_matches_upstream": true,
          "wall_s": 9.278644437988987,
          "ee_path_m": 1.9782161741697497,
          "joint_path_rad": 9.664239824664053,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "7_of_hearts"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 17.0990919820033,
          "compiled_physics_parameters_sha256": "1f85542eca6570f2ee4096ab955aec38518daba68a72b55c6f20b5d66949d5cd",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 55
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_4",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.542749798055852e-13,
                      -4.4897256357510424e-13,
                      -7.789010678285046e-07
                    ],
                    "orientation": [
                      1.0,
                      -2.572858804444268e-09,
                      -2.602040912461551e-09,
                      -8.532489215714537e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.18767530951069145,
                      0.08074528299367634,
                      0.7659989986014384
                    ],
                    "orientation": [
                      0.7071067811865475,
                      -3.6591953290127157e-09,
                      -2.0614878104259223e-11,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18767528281960347,
                      0.08074525659853957,
                      0.8309988961353516
                    ],
                    "orientation": [
                      0.5000000000034353,
                      -0.5000000025964476,
                      0.4999999999965628,
                      0.4999999974035538
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.05513235894890264,
                      0.022600027141975555,
                      0.7659989995904121
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.6591953290326665e-09,
                      -2.0614878074598264e-11,
                      0.7071067811865477
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05513233225781521,
                      0.022600000746839693,
                      0.830998897124287
                    ],
                    "orientation": [
                      0.5000000000034364,
                      -0.500000002596447,
                      0.49999999999656414,
                      0.49999999740355283
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05395523079590979,
                      0.08338912900350204,
                      0.7659989998453118
                    ],
                    "orientation": [
                      0.707106781186547,
                      -3.659195329021801e-09,
                      -2.06148781947021e-11,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05395525748699711,
                      0.08338910260836513,
                      0.8309988973791771
                    ],
                    "orientation": [
                      0.5000000000034368,
                      -0.5000000025964465,
                      0.49999999999656414,
                      0.49999999740355283
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker king of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "king_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker king of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_clubs": 0.0,
              "card_holder1": 0.0,
              "king_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "9_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.028012489899992943,
              0.009217476844787575,
              1.0091709035634995
            ],
            "target_euler": [
              3.032649278640747,
              -0.04070058465003967,
              0.13621938228607178
            ],
            "joint_target": [
              0.1681830511825818,
              -0.19547912331235334,
              -0.0857012734219117,
              -2.5765958429749722,
              -0.08217664474893502,
              2.2732992196194557,
              -3.9202729299880628
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.03407603898681575,
              0.007922522259567178,
              1.0110760115732556
            ],
            "ee_path_m": 2.356408084332437,
            "joint_path_rad": 12.131516653805575,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.8523413483637184e-06,
              "card_holder0": 1.969284586543419e-06,
              "king_of_clubs": 0.3299043864348371,
              "card_holder1": 9.7240067557797e-06,
              "king_of_diamonds": 0.163914153564092,
              "card_holder2": 1.8113671199679492e-06,
              "9_of_hearts": 1.8132771276757347e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "king_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.12775009870529175,
                0.09369591474533079,
                0.8138889807462693
              ],
              "target_euler": [
                3.0492453575134277,
                -0.10746170580387115,
                -0.05630767345428467
              ],
              "joint_target": [
                0.2661057524188825,
                0.5119647764068388,
                -0.005312921510558743,
                -2.2441599031203463,
                -0.14384709960510814,
                2.630191252976976,
                -3.4752705209384174
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.12641699651768604,
                0.08905509645145002,
                0.809302471724634
              ],
              "ee_path_m": 0.782978882903079,
              "joint_path_rad": 4.823426911450355,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 2.0068743448355166e-06,
                "card_holder0": 2.1256173711651715e-06,
                "king_of_clubs": 0.32990452662019326,
                "card_holder1": 2.0393499754125345e-06,
                "king_of_diamonds": 2.041236144015942e-06,
                "card_holder2": 1.9636342116664983e-06,
                "9_of_hearts": 1.96553363733883e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.1476868838071823,
                0.01982525587081907,
                1.0679580855369568
              ],
              "target_euler": [
                3.081148147583008,
                -0.09737967699766159,
                -0.013544023036956787
              ],
              "joint_target": [
                0.29490653280689183,
                -0.19797406532636985,
                0.0650273997879188,
                -2.4110787003504677,
                -0.06550369334037322,
                2.120772564814358,
                -3.5163794330937694
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.14179766021795667,
                0.020774280252556614,
                1.0587934565716557
              ],
              "ee_path_m": 1.269852369472995,
              "joint_path_rad": 6.730631932101376,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.0068743448348076e-06,
                "card_holder0": 2.1256185942329403e-06,
                "king_of_clubs": 0.32990452662079434,
                "card_holder1": 2.0393512116796275e-06,
                "king_of_diamonds": 2.0412379955471463e-06,
                "card_holder2": 1.9636354209897117e-06,
                "9_of_hearts": 1.965535464928934e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
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            "persistent_requested_only": false,
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_5",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
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                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
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                    "class": "Table",
                    "materials": [
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                  {
                    "name": "queen_of_spades",
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                    "class": "Poker",
                    "value": "queen",
                    "suite": "spades"
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                  {
                    "name": "2_of_hearts",
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                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
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                  {
                    "name": "card_holder2",
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                  {
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                    "class": "Poker",
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                    "suite": "clubs"
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                  {
                    "name": "card_holder3",
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                  {
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                    "robot": "franka"
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          "instruction": "Please pick the poker jack of diamonds",
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              "card_holder2": 0.0,
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                "card_holder2": 1.9453757150643497e-06,
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          "steps": 73,
          "simulator_steps": 73,
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        {
          "kind": "native",
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          "id": "seed47_select_poker_6",
          "row": {
            "task": "select_poker",
            "seed": 48,
            "track_index": 6,
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                    "class": "Table",
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                    "class": "CardHolder"
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                  {
                    "name": "king_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
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                    "class": "Poker",
                    "value": "king",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
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                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                    "orientation": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      -0.5000000027071251,
                      0.5000000004956134,
                      0.4999999972928748
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker jack of diamonds"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "jack_of_diamonds"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker jack of diamonds",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.11654158681631088,
              0.10216341018676756,
              0.9822732496261597
            ],
            "target_euler": [
              3.093154191970825,
              0.0030676499009132385,
              0.10766398906707764
            ],
            "joint_target": [
              0.19813363463927672,
              0.1187310826403813,
              0.028891530219861666,
              -2.2917681077327483,
              0.007605032943662267,
              2.362697902683835,
              -3.8141620675143706
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.11678815541436215,
              0.09885950356944855,
              0.9736804457158817
            ],
            "ee_path_m": 2.321564538310177,
            "joint_path_rad": 12.036024959477981,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.8516169309854443e-06,
              "card_holder0": 2.1017095537434548e-06,
              "king_of_hearts": 0.3101703027064784,
              "card_holder1": 1.8367989250017698e-06,
              "5_of_hearts": 1.8368151154318695e-06,
              "card_holder2": 0.01075395447462316,
              "jack_of_diamonds": 0.05242471767059417
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.0870959609746933,
                0.07008731961250303,
                0.8185127067565918
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              "target_euler": [
                3.076809883117676,
                -0.02036985754966736,
                -0.15531975030899048
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              "joint_target": [
                0.026790441294831675,
                0.44401573174365855,
                -0.17672477176525195,
                -2.395878052871629,
                0.1539463008313102,
                2.764470620595266,
                -4.052504230396696
              ],
              "gripper": [
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                0.0
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              "ee_position": [
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              "ee_path_m": 0.6150029527026919,
              "joint_path_rad": 4.51309121890961,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.8511487471344005e-06,
                "card_holder0": 1.814342961545554e-06,
                "king_of_hearts": 1.814361568485673e-06,
                "card_holder1": 1.836591400047771e-06,
                "5_of_hearts": 1.8366100872961017e-06,
                "card_holder2": 0.01075393433235386,
                "jack_of_diamonds": 0.04983567000614669
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.03628392890095711,
                -0.05259698033332827,
                1.0899924623966217
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              "target_euler": [
                3.0795483589172363,
                -0.00968988612294197,
                -0.19886159896850586
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              "joint_target": [
                0.16033193287798825,
                -0.5571583141353388,
                -0.057101064091599346,
                -2.675600232995957,
                -0.023101551554538864,
                2.0570107038664687,
                -3.6044060503383095
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                -0.030165524028485494,
                -0.050326341259185885,
                1.0830028077946576
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              "ee_path_m": 1.063213430036412,
              "joint_path_rad": 6.62975964252596,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.8511759455462463e-06,
                "card_holder0": 1.814362295533476e-06,
                "king_of_hearts": 1.8143800695595796e-06,
                "card_holder1": 1.8366120520258879e-06,
                "5_of_hearts": 1.8366298578003529e-06,
                "card_holder2": 0.01075394214365467,
                "jack_of_diamonds": 0.05221633752479161
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                0.10216341018676756,
                0.9822732496261597
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              "target_euler": [
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                0.10766398906707764
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              "joint_target": [
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                0.1187310826403813,
                0.028891530219861666,
                -2.2917681077327483,
                0.007605032943662267,
                2.362697902683835,
                -3.8141620675143706
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.09885950356944855,
                0.9736804457158817
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              "ee_path_m": 2.321564538310177,
              "joint_path_rad": 12.036024959477981,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.8516169309854443e-06,
                "card_holder0": 2.1017095537434548e-06,
                "king_of_hearts": 0.3101703027064784,
                "card_holder1": 1.8367989250017698e-06,
                "5_of_hearts": 1.8368151154318695e-06,
                "card_holder2": 0.01075395447462316,
                "jack_of_diamonds": 0.05242471767059417
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "jack_of_diamonds"
          ],
          "alternative_entity": null,
          "original_entity": [
            "jack_of_diamonds"
          ],
          "initial_physics_sha256": "d18289fba45ef11a37b36a73ca32c126b785c583ccf86e0bd26d67b5897af86d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "252f2c9232c392055cf89377d5af9af0e9b68ff523044e03630691ee19216069",
          "observation_matches_upstream": true,
          "wall_s": 9.142092016001698,
          "ee_path_m": 2.321564538310177,
          "joint_path_rad": 12.036024959477981,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 16.78152129400405,
          "compiled_physics_parameters_sha256": "ae8e4c22ea5514da66136dd409e3dd6f2617c0cb29d9dad17820328b4fab2022",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 51
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_7",
          "row": {
            "task": "select_poker",
            "seed": 49,
            "track_index": 7,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      8.993010706098417e-14,
                      -1.0174838478983354e-12,
                      -7.872541652875655e-07
                    ],
                    "orientation": [
                      1.0,
                      -5.117511683830617e-09,
                      -4.5210121872354474e-10,
                      -3.4739328163569874e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.22159409258072887,
                      0.07013864205371936,
                      0.7659989907221931
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917337464e-09,
                      3.2989546876713754e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22159408794332378,
                      0.07013858955458034,
                      0.8309988882564122
                    ],
                    "orientation": [
                      0.4999999976470657,
                      -0.5000000028046608,
                      0.5000000023529358,
                      0.4999999971953378
                    ],
                    "class": "Poker",
                    "value": "10",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06397785497318992,
                      0.07305675226437446,
                      0.7659989908348444
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917287759e-09,
                      3.2989546877274984e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.063977850335785,
                      0.07305669976523622,
                      0.8309988883690591
                    ],
                    "orientation": [
                      0.4999999976470649,
                      -0.5000000028046615,
                      0.5000000023529362,
                      0.4999999971953374
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05492023439563817,
                      0.03904483541805253,
                      0.7659989912904697
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.9383169172991586e-09,
                      3.2989546876022165e-09,
                      0.7071067811865482
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05492023903304272,
                      0.03904478291891425,
                      0.8309988888246669
                    ],
                    "orientation": [
                      0.49999999764706304,
                      -0.5000000028046634,
                      0.5000000023529344,
                      0.4999999971953392
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.19783883614347678,
                      0.18918167358242372,
                      0.7659989898830285
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.93831691733311e-09,
                      3.2989546876239143e-09,
                      0.7071067811865485
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.19783884078088182,
                      0.189181621083284,
                      0.8309988874172801
                    ],
                    "orientation": [
                      0.4999999976470659,
                      -0.5000000028046607,
                      0.5000000023529361,
                      0.4999999971953377
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of spades"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_spades"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of spades",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "10_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "3_of_spades": 0.0,
              "card_holder3": 0.0,
              "6_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
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              0.037656521797180154,
              0.9982463556528092
            ],
            "target_euler": [
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              -0.007231906056404114,
              0.06127607822418213
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            "joint_target": [
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              -0.04302895618445231,
              0.43076657761856746,
              -2.4306916434495833,
              0.047857470173806295,
              2.272856080137599,
              -3.7431015017719056
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            "gripper": [
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              0.0
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            "ee_position": [
              -0.13423097875794976,
              0.038614910035655856,
              0.9980673271150184
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            "ee_path_m": 1.9552160364335802,
            "joint_path_rad": 11.904777528838812,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.4489439659746316e-06,
              "card_holder0": 0.005336468482808816,
              "10_of_spades": 0.039831260858936644,
              "card_holder1": 1.4939954428131368e-06,
              "2_of_diamonds": 1.4940004893590916e-06,
              "card_holder2": 1.4371622773825762e-06,
              "3_of_spades": 1.4371672718432913e-06,
              "card_holder3": 1.4234835320308932e-06,
              "6_of_hearts": 1.4234883739468332e-06
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.17396588623523712,
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                0.8191236990690232
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              "target_euler": [
                3.1336300373077393,
                -0.015332214534282684,
                -0.1022387146949768
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              "joint_target": [
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                0.49162832758973785,
                0.07940758997418063,
                -2.3020403436199257,
                -0.13500777193098823,
                2.7757480514659596,
                -3.377677160770651
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              "gripper": [
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              "ee_position": [
                -0.17241841926920473,
                0.08617553757364134,
                0.8204040302087323
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              "ee_path_m": 0.5843457337211743,
              "joint_path_rad": 3.0530735391301564,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.2266102688871988e-06,
                "card_holder0": 0.0004865851509318607,
                "10_of_spades": 0.02935567993113688,
                "card_holder1": 1.3008189088699885e-06,
                "2_of_diamonds": 1.3040386220868218e-06,
                "card_holder2": 1.2533636141816806e-06,
                "3_of_spades": 1.2565791360373695e-06,
                "card_holder3": 1.243725220091297e-06,
                "6_of_hearts": 1.2469199400173453e-06
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              "task_progress": 0.6666666666666666,
              "intention_score": 1.0,
              "grasped_objects": [
                "10_of_spades"
              ]
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                -0.016786450147628806,
                1.0859062659740448
              ],
              "target_euler": [
                3.167975664138794,
                -0.009574554860591888,
                -0.11562246084213257
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              "joint_target": [
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                -0.3903403522153134,
                0.15290208549652773,
                -2.5671497545607895,
                0.04617692586354932,
                2.199452996322381,
                -3.475562906832642
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              "gripper": [
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                0.0
              ],
              "ee_position": [
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                -0.01301939120350362,
                1.0769430203234234
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              "ee_path_m": 0.9664236513877433,
              "joint_path_rad": 4.891033488378753,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.4489439657962319e-06,
                "card_holder0": 0.005336468488080988,
                "10_of_spades": 0.039502279945162075,
                "card_holder1": 1.493999636567951e-06,
                "2_of_diamonds": 1.4940066753180395e-06,
                "card_holder2": 1.437166393045554e-06,
                "3_of_spades": 1.4371734018729978e-06,
                "card_holder3": 1.4234873651096262e-06,
                "6_of_hearts": 1.4234941460064285e-06
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.12794506549835205,
                0.037656521797180154,
                0.9982463556528092
              ],
              "target_euler": [
                3.0222368240356445,
                -0.007231906056404114,
                0.06127607822418213
              ],
              "joint_target": [
                -0.15074243213642186,
                -0.04302895618445231,
                0.43076657761856746,
                -2.4306916434495833,
                0.047857470173806295,
                2.272856080137599,
                -3.7431015017719056
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              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.13423097875794976,
                0.038614910035655856,
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              "ee_path_m": 1.9552160364335802,
              "joint_path_rad": 11.904777528838812,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.4489439659746316e-06,
                "card_holder0": 0.005336468482808816,
                "10_of_spades": 0.039831260858936644,
                "card_holder1": 1.4939954428131368e-06,
                "2_of_diamonds": 1.4940004893590916e-06,
                "card_holder2": 1.4371622773825762e-06,
                "3_of_spades": 1.4371672718432913e-06,
                "card_holder3": 1.4234835320308932e-06,
                "6_of_hearts": 1.4234883739468332e-06
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "10_of_spades"
          ],
          "alternative_entity": null,
          "original_entity": [
            "10_of_spades"
          ],
          "initial_physics_sha256": "8624c852e28beead0562dc2c07b4ac27dcf3adf778f7b8c9291e3c024f6bdbcc",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "b913d8922ec692baac7b73db6421a31ceeecc035eefc4b530f1b2dfb41d420fe",
          "observation_matches_upstream": true,
          "wall_s": 9.390342836006312,
          "ee_path_m": 1.9552160364335802,
          "joint_path_rad": 11.904777528838812,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "10_of_spades"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 16.756607079005335,
          "compiled_physics_parameters_sha256": "839db11ec264b6db7f6539a456567a0172bb775637919f57c3e012132fa9f4e6",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 60
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_8",
          "row": {
            "task": "select_poker",
            "seed": 50,
            "track_index": 8,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.709315723776263e-13,
                      -7.120539181289097e-13,
                      -7.789010675624339e-07
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                    "orientation": [
                      1.0,
                      -4.080259255360254e-09,
                      -2.6973053660541255e-09,
                      -1.6492287953422838e-17
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
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                      0.09267394776934215,
                      0.7659989981733321
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                    "orientation": [
                      0.7071067811865452,
                      -4.792452507046338e-09,
                      9.779191649668945e-10,
                      0.707106781186549
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                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19723478003669684,
                      0.09267390590971358,
                      0.8309988957072625
                    ],
                    "orientation": [
                      0.4999999992914256,
                      -0.5000000034036428,
                      0.5000000007085753,
                      0.49999999659635597
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                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                      0.18971384371089628,
                      0.7659989981150066
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -4.792452506964044e-09,
                      9.779191650154976e-10,
                      0.707106781186549
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                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06125259519703843,
                      0.18971380185126765,
                      0.8309988956489393
                    ],
                    "orientation": [
                      0.49999999929142497,
                      -0.5000000034036438,
                      0.5000000007085753,
                      0.4999999965963562
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.06272083042383256,
                      0.013751637924165097,
                      0.7659990002197598
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -4.7924525071209434e-09,
                      9.779191649255241e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "ace_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06272085809209728,
                      0.013751596064537935,
                      0.8309988977536109
                    ],
                    "orientation": [
                      0.4999999992914259,
                      -0.5000000034036426,
                      0.5000000007085759,
                      0.49999999659635536
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                    "class": "Poker",
                    "value": "ace",
                    "suite": "spades"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 5 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "5_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 5 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "ace_of_spades": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
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          "final": {
            "step": 84,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
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              0.9347058671712876
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            "target_euler": [
              3.1457936763763428,
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              -0.1558142900466919
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            "joint_target": [
              -0.09499354605581493,
              0.3858486174970913,
              0.2304440927503908,
              -2.0693542602334407,
              -0.1438632007514658,
              2.443469779460202,
              -3.542657048440435
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            "gripper": [
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              0.0
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            "ee_position": [
              -0.07570714707558276,
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              0.9221242939711446
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            "ee_path_m": 0.7832685270863544,
            "joint_path_rad": 4.434023679231499,
            "native_success": true,
            "simulation_time_s": 10.399999999999675,
            "object_displacement_m": {
              "table": 2.2780334511360483e-06,
              "card_holder0": 2.3274936294183833e-06,
              "4_of_hearts": 2.327513023768097e-06,
              "card_holder1": 0.011424344657621838,
              "5_of_hearts": 0.07253201681461956,
              "card_holder2": 2.2628726408497352e-06,
              "ace_of_spades": 2.2628919919871595e-06
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            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
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          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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                -0.06512407213449478,
                0.19016400575637815,
                0.857021598815918
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              "target_euler": [
                -3.1531002521514893,
                -0.010502152144908905,
                -0.1648775041103363
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              "joint_target": [
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                0.5572134041901582,
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                -2.0316905030735537,
                -0.19256577708197098,
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                -3.519961336106199
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              "gripper": [
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              "ee_position": [
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                0.18500763204078435,
                0.856749572764558
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              "ee_path_m": 0.6178575138835849,
              "joint_path_rad": 3.684709099489663,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.1931687750495639e-18,
                "card_holder0": 3.0718538955360006e-12,
                "4_of_hearts": 4.556787988656517e-12,
                "card_holder1": 3.0073226032957865e-12,
                "5_of_hearts": 4.55787151305342e-12,
                "card_holder2": 3.045674276630199e-12,
                "ace_of_spades": 4.55093547130129e-12
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 84,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.07618094235658646,
                0.18544707298278806,
                0.9347058671712876
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              "target_euler": [
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                -0.1558142900466919
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              "joint_target": [
                -0.09499354605581493,
                0.3858486174970913,
                0.2304440927503908,
                -2.0693542602334407,
                -0.1438632007514658,
                2.443469779460202,
                -3.542657048440435
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.18150281057621798,
                0.9221242939711446
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              "ee_path_m": 0.7832685270863544,
              "joint_path_rad": 4.434023679231499,
              "native_success": true,
              "simulation_time_s": 10.399999999999675,
              "object_displacement_m": {
                "table": 2.2780334511360483e-06,
                "card_holder0": 2.3274936294183833e-06,
                "4_of_hearts": 2.327513023768097e-06,
                "card_holder1": 0.011424344657621838,
                "5_of_hearts": 0.07253201681461956,
                "card_holder2": 2.2628726408497352e-06,
                "ace_of_spades": 2.2628919919871595e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "5_of_hearts"
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            },
            "200": {
              "step": 84,
              "substeps": 1,
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              "ee_path_m": 0.7832685270863544,
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              "native_success": true,
              "simulation_time_s": 10.399999999999675,
              "object_displacement_m": {
                "table": 2.2780334511360483e-06,
                "card_holder0": 2.3274936294183833e-06,
                "4_of_hearts": 2.327513023768097e-06,
                "card_holder1": 0.011424344657621838,
                "5_of_hearts": 0.07253201681461956,
                "card_holder2": 2.2628726408497352e-06,
                "ace_of_spades": 2.2628919919871595e-06
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              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "5_of_hearts"
              ]
            }
          },
          "steps": 84,
          "simulator_steps": 84,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "5_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "5_of_hearts"
          ],
          "initial_physics_sha256": "b544aacf181d7de3f95bf31e0f977939ae25e68a955f7fff2f85799af1d361f8",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "6133323293262e1914dc30dd8aa99bd30928c8aab30d81cca8759097ad4e7699",
          "observation_matches_upstream": true,
          "wall_s": 4.13559003098635,
          "ee_path_m": 0.7832685270863544,
          "joint_path_rad": 4.434023679231499,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "5_of_hearts",
            "card_holder1"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
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          "total_wall_s": 11.078150914996513,
          "compiled_physics_parameters_sha256": "ab979cfde646a33464a5d287550dfcd2e0178b18c2351c82b11e7559780e5951",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 66
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_9",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      5.203463978305751e-13,
                      -1.21887868662231e-12,
                      -7.789010667117315e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.984232505527051e-09,
                      -2.980243893441161e-09,
                      -2.765812391420025e-17
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.20318190056268576,
                      0.17630451880536321,
                      0.7659989963198195
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                    "orientation": [
                      0.7071067811865474,
                      -7.0459426055636745e-09,
                      2.8312771686035696e-09,
                      0.707106781186547
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                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.20318186999214186,
                      0.17630444715375482,
                      0.8309988938538234
                    ],
                    "orientation": [
                      0.49999999796941724,
                      -0.5000000050083553,
                      0.5000000020305819,
                      0.4999999949916455
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                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06537056478904346,
                      0.17561605557111643,
                      0.7659989971508677
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                    "orientation": [
                      0.707106781186547,
                      -7.045942605540012e-09,
                      2.8312771686000086e-09,
                      0.7071067811865476
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                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06537053421849995,
                      0.17561598391950844,
                      0.8309988946848395
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                    "orientation": [
                      0.49999999796941746,
                      -0.500000005008355,
                      0.5000000020305824,
                      0.4999999949916449
                    ],
                    "class": "Poker",
                    "value": "10",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05225058275243717,
                      0.15498512451485397,
                      0.7659989981401398
                    ],
                    "orientation": [
                      0.7071067811865469,
                      -7.045942605605426e-09,
                      2.8312771685680968e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.052250613322980255,
                      0.15498505286324626,
                      0.8309988956740733
                    ],
                    "orientation": [
                      0.4999999979694178,
                      -0.5000000050083548,
                      0.5000000020305824,
                      0.49999999499164505
                    ],
                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "6_of_spades": 0.0,
              "card_holder1": 0.0,
              "10_of_clubs": 0.0,
              "card_holder2": 0.0,
              "7_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 73,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.06040821969509125,
              0.16421172618865965,
              0.9372151184082032
            ],
            "target_euler": [
              3.0939478874206543,
              -0.01286713033914566,
              -0.11317414045333862
            ],
            "joint_target": [
              0.1373545575180666,
              0.33280689250001866,
              -0.02991447433119869,
              -2.118212351171462,
              0.011393486038701224,
              2.4015407158171658,
              -3.7140698640692813
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.05990193760751869,
              0.16025566712770356,
              0.9243470578626479
            ],
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                  {
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                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
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                  {
                    "name": "card_holder2",
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                  },
                  {
                    "name": "8_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07415956390111549,
                      0.05657803565037027,
                      0.8309988884661065
                    ],
                    "orientation": [
                      0.4999999968519501,
                      -0.5000000031029264,
                      0.5000000031480499,
                      0.4999999968970734
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.17334448768784513,
                      0.091263319360156,
                      0.765998990492669
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.3538312591097935e-09,
                      4.41769781238297e-09,
                      0.7071067811865466
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.1733444872245828,
                      0.09126325573153812,
                      0.8309988880268976
                    ],
                    "orientation": [
                      0.49999999685195057,
                      -0.5000000031029265,
                      0.5000000031480504,
                      0.4999999968970733
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 8 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "8_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 8 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "2_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "8_of_clubs": 0.0,
              "card_holder3": 0.0,
              "queen_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.05253566801548004,
              0.12119469642639158,
              0.9868614512681961
            ],
            "target_euler": [
              2.5547072887420654,
              -0.048319343477487564,
              0.3612833321094513
            ],
            "joint_target": [
              0.39782923222848854,
              0.423545475656955,
              -0.45589279199560895,
              -1.8645455703952516,
              -0.09173064692988658,
              1.7246156599839775,
              -4.307614584667457
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.0523168302935107,
              0.11790689344447856,
              0.9815576251050587
            ],
            "ee_path_m": 0.9163908139911899,
            "joint_path_rad": 6.039159364465945,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.174488108392424e-06,
              "card_holder0": 1.13086102013481e-06,
              "2_of_hearts": 1.1308556601909961e-06,
              "card_holder1": 1.163807655992626e-06,
              "5_of_hearts": 1.1638024870354898e-06,
              "card_holder2": 1.2035918244631407e-06,
              "8_of_clubs": 1.203586475565031e-06,
              "card_holder3": 0.00011526766170480664,
              "queen_of_diamonds": 0.1722983438824555
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "queen_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.16465333104133606,
                0.08851755261421201,
                0.845131738781929
              ],
              "target_euler": [
                -3.215930461883545,
                -0.07678565382957458,
                0.06379570811986923
              ],
              "joint_target": [
                0.16877791183225863,
                0.4753035283619285,
                -0.4386733699513681,
                -2.2959485199199055,
                0.2240487544096981,
                2.6723684535682386,
                -4.422981133401629
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                0.16365478508613093,
                0.0866459417520698,
                0.8484563540505144
              ],
              "ee_path_m": 0.5603809738357439,
              "joint_path_rad": 3.624578319732969,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 6.539617611496702e-08,
                "card_holder0": 9.01813088257718e-08,
                "2_of_hearts": 9.28769236558348e-08,
                "card_holder1": 9.208607275488086e-08,
                "5_of_hearts": 9.470178101187112e-08,
                "card_holder2": 9.479714593765888e-08,
                "8_of_clubs": 9.731879044690945e-08,
                "card_holder3": 3.3860268472260383e-06,
                "queen_of_diamonds": 0.00257994495749429
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.16212281584739685,
                0.09099010229110716,
                0.9447890359163285
              ],
              "target_euler": [
                3.0363903045654297,
                -0.07235212624073029,
                0.08981365710496902
              ],
              "joint_target": [
                0.27146870464076067,
                0.2426514353178837,
                -0.56530246110036,
                -2.286157432594755,
                0.03552622522410375,
                2.420023672185553,
                -4.326423888851738
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.16146510734523223,
                0.08740511663102887,
                0.9402182586523213
              ],
              "ee_path_m": 0.689025137275044,
              "joint_path_rad": 4.582667008269426,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.1744881084014955e-06,
                "card_holder0": 1.1308671229136898e-06,
                "2_of_hearts": 1.1308648623544603e-06,
                "card_holder1": 1.1638139272347452e-06,
                "5_of_hearts": 1.1638117499450759e-06,
                "card_holder2": 1.203598092099967e-06,
                "8_of_clubs": 1.2035958223491591e-06,
                "card_holder3": 0.00011526766814572223,
                "queen_of_diamonds": 0.08991322984180705
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "queen_of_diamonds"
              ]
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.05253566801548004,
                0.12119469642639158,
                0.9868614512681961
              ],
              "target_euler": [
                2.5547072887420654,
                -0.048319343477487564,
                0.3612833321094513
              ],
              "joint_target": [
                0.39782923222848854,
                0.423545475656955,
                -0.45589279199560895,
                -1.8645455703952516,
                -0.09173064692988658,
                1.7246156599839775,
                -4.307614584667457
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.0523168302935107,
                0.11790689344447856,
                0.9815576251050587
              ],
              "ee_path_m": 0.9163908139911899,
              "joint_path_rad": 6.039159364465945,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.174488108392424e-06,
                "card_holder0": 1.13086102013481e-06,
                "2_of_hearts": 1.1308556601909961e-06,
                "card_holder1": 1.163807655992626e-06,
                "5_of_hearts": 1.1638024870354898e-06,
                "card_holder2": 1.2035918244631407e-06,
                "8_of_clubs": 1.203586475565031e-06,
                "card_holder3": 0.00011526766170480664,
                "queen_of_diamonds": 0.1722983438824555
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "queen_of_diamonds"
              ]
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "8_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "8_of_clubs"
          ],
          "initial_physics_sha256": "401a81724d79cf7b156be5ffb1bc121d198cf65c6c388df20bb9d259b22be413",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "66c62b893f83d4cf8056ac2f071455efa009995ce44326a8720a03d87086ff19",
          "observation_matches_upstream": true,
          "wall_s": 10.938138415993308,
          "ee_path_m": 0.9163908139911899,
          "joint_path_rad": 6.039159364465945,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "queen_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 19.725189938995754,
          "compiled_physics_parameters_sha256": "b25b2bbb0bd43d7917183652c55d497be226c1996da24957c2e635a5a9e9587d",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_2",
          "row": {
            "task": "select_poker",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      1.2453404370727793e-13,
                      -7.412892325855532e-13,
                      -7.872541655946741e-07
                    ],
                    "orientation": [
                      1.0,
                      -3.728310467759129e-09,
                      -6.260660722252706e-10,
                      -4.265552169405024e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.2205967619815587,
                      0.024583897840483655,
                      0.7659989911809051
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116655678967e-09,
                      2.19362807607307e-09,
                      0.7071067811865467
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22059675555973354,
                      0.024583859592760073,
                      0.8309988887151056
                    ],
                    "orientation": [
                      0.4999999984340172,
                      -0.5000000021915298,
                      0.5000000015659848,
                      0.4999999978084684
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06211185324907401,
                      0.07745700588295698,
                      0.7659989909850923
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116657008755e-09,
                      2.1936280760673635e-09,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06211184682724876,
                      0.0774569676352338,
                      0.8309988885193005
                    ],
                    "orientation": [
                      0.4999999984340156,
                      -0.5000000021915315,
                      0.5000000015659833,
                      0.4999999978084698
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0633687424154539,
                      0.023341998300958226,
                      0.7659989915457316
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.079011665669035e-09,
                      2.1936280759991955e-09,
                      0.707106781186547
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06336874883727882,
                      0.023341960053234773,
                      0.8309988890799179
                    ],
                    "orientation": [
                      0.49999999843401627,
                      -0.5000000021915308,
                      0.5000000015659838,
                      0.49999999780846943
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.1739008663808682,
                      0.14521270026197677,
                      0.7659989907753807
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116656240354e-09,
                      2.193628076042048e-09,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.17390087280269334,
                      0.1452126620142527,
                      0.830998888309597
                    ],
                    "orientation": [
                      0.49999999843401594,
                      -0.5000000021915313,
                      0.5000000015659833,
                      0.4999999978084701
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 4 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "4_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "4_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "4_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 4 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_diamonds": 0.0,
              "card_holder1": 0.0,
              "9_of_spades": 0.0,
              "card_holder2": 0.0,
              "8_of_hearts": 0.0,
              "card_holder3": 0.0,
              "4_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.20659124851226807,
              0.025814628601074197,
              0.9735450434684754
            ],
            "target_euler": [
              2.886523485183716,
              -0.09652913361787796,
              0.10401325672864914
            ],
            "joint_target": [
              0.24719323528277082,
              0.12807723809769228,
              0.2074949755055113,
              -2.271222639598086,
              -0.03162980133135882,
              2.123910513433574,
              -3.542460978348618
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.20530042451012628,
              0.022596327947507502,
              0.9687044773499112
            ],
            "ee_path_m": 0.7387653504718574,
            "joint_path_rad": 4.60310749290741,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.1678620453547627e-06,
              "card_holder0": 0.00011212514231766383,
              "4_of_diamonds": 0.1228204427717398,
              "card_holder1": 1.1849051696487657e-06,
              "9_of_spades": 1.1849020968873276e-06,
              "card_holder2": 1.1393999041571146e-06,
              "8_of_hearts": 1.1393967734834073e-06,
              "card_holder3": 1.0811819553184566e-06,
              "4_of_hearts": 1.0811786957531296e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "4_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.2316894680261612,
                0.02410263419151304,
                0.8470602768659592
              ],
              "target_euler": [
                3.0960450172424316,
                -0.09743558615446091,
                -0.024488504976034164
              ],
              "joint_target": [
                0.3445374072945356,
                0.37524971714650374,
                0.14573526668886974,
                -2.376195529444201,
                -0.2470122125520331,
                2.647567410464365,
                -3.1949365492454795
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.232387678129299,
                0.024426787539334305,
                0.8480739556216437
              ],
              "ee_path_m": 0.5333337968370272,
              "joint_path_rad": 2.8579914474285926,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 7.556161450854331e-08,
                "card_holder0": 4.0447901025058876e-06,
                "4_of_diamonds": 0.00221085822663511,
                "card_holder1": 6.28154147378138e-08,
                "9_of_spades": 6.185296806559838e-08,
                "card_holder2": 5.976776111948966e-08,
                "8_of_hearts": 5.8753185352032286e-08,
                "card_holder3": 5.703690080347767e-08,
                "4_of_hearts": 5.5979312647868854e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.2311115711927414,
                0.027532434463500954,
                0.9369698452949524
              ],
              "target_euler": [
                3.1342179775238037,
                -0.09049516171216965,
                -0.009160924702882767
              ],
              "joint_target": [
                0.31738354788896755,
                0.1445730878766424,
                0.1888012942083224,
                -2.4076558355065885,
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                2.491721050916803,
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              "step": 200,
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          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "initial_physics_sha256": "2a0421213e0694417da367d315846ffdaee6de5045efc4ed613511b74d7dca8a",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_3",
          "row": {
            "task": "select_poker",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
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                "components": [
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                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
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                    "materials": [
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                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
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                    "class": "Poker",
                    "value": "7",
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                  },
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                  {
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                    "class": "Poker",
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                    "suite": "hearts"
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                  {
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                  {
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                "instructions": [
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                    "robot": "franka"
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                "target_entity": [
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          "instruction": "Please pick the poker 7 of hearts",
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              "step": 100,
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          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
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          "observation_matches_upstream": true,
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        {
          "kind": "native",
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          "policy_seed": 11,
          "id": "seed11_select_poker_4",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
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                    "class": "Table",
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                  {
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                    "class": "Poker",
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                  {
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                  {
                    "name": "king_of_diamonds",
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                    "class": "Poker",
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                    "suite": "diamonds"
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                  {
                    "name": "card_holder2",
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                    "class": "CardHolder"
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                  {
                    "name": "9_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
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                    "orientation": [
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                    "class": "Poker",
                    "value": "9",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
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                  "orientation": [
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                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker king of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "king_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker king of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_clubs": 0.0,
              "card_holder1": 0.0,
              "king_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "9_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.05931078642606735,
              0.06416810154914854,
              0.9240857648849488
            ],
            "target_euler": [
              2.771023750305176,
              0.7159599661827087,
              1.4462409019470215
            ],
            "joint_target": [
              -0.36317580880507616,
              0.4976891572489162,
              0.3847483803294896,
              -1.945896505444829,
              -0.4327088225733221,
              1.6168303045025347,
              -5.261799577264584
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.059060949461351694,
              0.06065956183384674,
              0.9176196492845788
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            "ee_path_m": 1.6966920724677594,
            "joint_path_rad": 10.925184581593554,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.406865843433266e-06,
              "card_holder0": 0.061129049191300786,
              "king_of_clubs": 0.07741235844917511,
              "card_holder1": 0.01889794687823985,
              "king_of_diamonds": 0.33137090331086383,
              "card_holder2": 0.054061047215416706,
              "9_of_hearts": 0.6125875168095514
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.08502856642007828,
                0.021452075242996194,
                0.8132640372216702
              ],
              "target_euler": [
                3.143937587738037,
                -0.09869327396154404,
                0.1921943575143814
              ],
              "joint_target": [
                0.3206416686064506,
                0.379220718153934,
                -0.12747977939198585,
                -2.57952384697301,
                -0.2749845853134035,
                2.9503774008035264,
                -3.647754414308497
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              "gripper": [
                0.04,
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              "ee_position": [
                -0.0872214709220545,
                0.026011854509716572,
                0.8164572520023726
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              "ee_path_m": 0.521984669731794,
              "joint_path_rad": 3.1936771941532283,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 9.267855469287846e-07,
                "card_holder0": 9.709297857484282e-07,
                "king_of_clubs": 9.748600047157794e-07,
                "card_holder1": 0.0001248655846273247,
                "king_of_diamonds": 0.02833433512338679,
                "card_holder2": 9.475832296507533e-07,
                "9_of_hearts": 9.514876464637791e-07
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "king_of_diamonds"
              ]
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.10671404749155045,
                0.07603642940521238,
                0.9696964013576508
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              "target_euler": [
                2.9642531871795654,
                -0.03313322737812996,
                0.287930428981781
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              "joint_target": [
                0.2936462292738023,
                0.1243135533444079,
                -0.061290028067432195,
                -2.298036966111092,
                -0.04478766584977355,
                2.2463125618990887,
                -3.94952239936554
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              "gripper": [
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                0.0
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              "ee_position": [
                -0.10573113888140227,
                0.07273985600686994,
                0.9646513326465915
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              "ee_path_m": 0.8389260278055701,
              "joint_path_rad": 4.939161706127442,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.1542617496296106e-06,
                "card_holder0": 1.1748957873430827e-06,
                "king_of_clubs": 1.1749159337107672e-06,
                "card_holder1": 0.013076880725217834,
                "king_of_diamonds": 0.06833254593365234,
                "card_holder2": 1.1483569406697072e-06,
                "9_of_hearts": 0.05891687775011502
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.05931078642606735,
                0.06416810154914854,
                0.9240857648849488
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              "target_euler": [
                2.771023750305176,
                0.7159599661827087,
                1.4462409019470215
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              "joint_target": [
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                0.4976891572489162,
                0.3847483803294896,
                -1.945896505444829,
                -0.4327088225733221,
                1.6168303045025347,
                -5.261799577264584
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                0.059060949461351694,
                0.06065956183384674,
                0.9176196492845788
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              "ee_path_m": 1.6966920724677594,
              "joint_path_rad": 10.925184581593554,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.406865843433266e-06,
                "card_holder0": 0.061129049191300786,
                "king_of_clubs": 0.07741235844917511,
                "card_holder1": 0.01889794687823985,
                "king_of_diamonds": 0.33137090331086383,
                "card_holder2": 0.054061047215416706,
                "9_of_hearts": 0.6125875168095514
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "king_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "king_of_clubs"
          ],
          "initial_physics_sha256": "d3c4ef3a6ba89aaddcabbb3ab17c8d7336dda841bfb53d1997b7174ee156ab7c",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "2880da9836a512a63cbc5f3576689a114472875f888a77ad5154d220b2cd1708",
          "observation_matches_upstream": true,
          "wall_s": 10.724292569997488,
          "ee_path_m": 1.6966920724677594,
          "joint_path_rad": 10.925184581593554,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "card_holder0",
            "card_holder1",
            "king_of_clubs",
            "king_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 19.192248676990857,
          "compiled_physics_parameters_sha256": "cd03eb4ffa35c6bde0edc03d97c661d03c9387794b64e106130cee977a4942e3",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 154
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_5",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -4.518849811053046e-14,
                      -1.3734859347746658e-12,
                      -7.87254164747005e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.907338010928561e-09,
                      2.2732595695747078e-10,
                      1.8605104750660698e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.19131640784004358,
                      0.1980019992654107,
                      0.7659989889920613
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.723494782654896e-09,
                      5.044979495745809e-09,
                      0.7071067811865471
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19131641017187384,
                      0.1980019284049921,
                      0.8309988865263485
                    ],
                    "orientation": [
                      0.49999999640571113,
                      -0.5000000033671516,
                      0.5000000035942916,
                      0.4999999966328458
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.05432821628843378,
                      0.16717705737414396,
                      0.7659989893556197
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.723494782681899e-09,
                      5.044979495682341e-09,
                      0.7071067811865469
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05432821862026466,
                      0.1671769865137246,
                      0.8309988868898929
                    ],
                    "orientation": [
                      0.4999999964057097,
                      -0.500000003367153,
                      0.5000000035942905,
                      0.49999999663284705
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.060198456808577945,
                      0.12740508690092883,
                      0.7659989898529921
                    ],
                    "orientation": [
                      0.707106781186546,
                      -4.723494782554431e-09,
                      5.0449794958084284e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06019845447674782,
                      0.12740501604051027,
                      0.8309988873872459
                    ],
                    "orientation": [
                      0.49999999640571013,
                      -0.5000000033671523,
                      0.5000000035942906,
                      0.49999999663284667
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.20194516115587058,
                      0.008740882174810847,
                      0.7659989914278703
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.7234947825609135e-09,
                      5.044979495770393e-09,
                      0.7071067811865474
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.20194515882404016,
                      0.008740811314393259,
                      0.8309988889620633
                    ],
                    "orientation": [
                      0.49999999640571013,
                      -0.5000000033671527,
                      0.5000000035942908,
                      0.49999999663284683
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker jack of diamonds"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "jack_of_diamonds"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker jack of diamonds",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "queen_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_hearts": 0.0,
              "card_holder2": 0.0,
              "6_of_clubs": 0.0,
              "card_holder3": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.2524837255477905,
              0.12737724781036375,
              0.9652508932352066
            ],
            "target_euler": [
              2.667205810546875,
              0.092644602060318,
              1.5298502445220947
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            "joint_target": [
              0.4787290455020216,
              0.4563499155172182,
              -0.8665804378891994,
              -2.1381211803908617,
              -0.2267584663668674,
              2.4875521706569117,
              -5.627445759135072
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            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.25143728340168436,
              0.12451836985151457,
              0.9602024801383867
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            "ee_path_m": 1.0055470733624772,
            "joint_path_rad": 8.601520542383698,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 3.661625937024018e-10,
              "card_holder0": 3.559834491183595e-10,
              "queen_of_spades": 3.494541569839955e-10,
              "card_holder1": 3.464477130541948e-10,
              "2_of_hearts": 3.399285760493605e-10,
              "card_holder2": 3.3778661092594083e-10,
              "6_of_clubs": 3.313336916483946e-10,
              "card_holder3": 4.2900170493760825e-08,
              "jack_of_diamonds": 0.06131074987835201
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.24744342267513275,
                -0.010868096351623557,
                0.9620477098226548
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              "target_euler": [
                -3.2232372760772705,
                -0.06679166108369827,
                -0.08794322609901428
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              "joint_target": [
                0.8524787583361181,
                0.1195080172548944,
                -1.385074727438551,
                -2.490838700802445,
                0.03536967993627691,
                2.4676184543610944,
                -4.399194598206354
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              "gripper": [
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              "ee_position": [
                0.2457760293923937,
                -0.017961000093189267,
                0.9629426980240415
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              "ee_path_m": 0.5634004692305705,
              "joint_path_rad": 4.005402929168706,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 3.74183271772686e-17,
                "card_holder0": 4.333071178949439e-12,
                "queen_of_spades": 6.4401703030659455e-12,
                "card_holder1": 4.331680682172584e-12,
                "2_of_hearts": 6.4413258576691045e-12,
                "card_holder2": 4.331680682172584e-12,
                "6_of_clubs": 6.441270375513993e-12,
                "card_holder3": 4.321377403848621e-12,
                "jack_of_diamonds": 6.435515863293192e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.24003206193447113,
                0.03860933184623716,
                0.9994816172122956
              ],
              "target_euler": [
                3.0170679092407227,
                -0.05682520195841789,
                0.1734962910413742
              ],
              "joint_target": [
                0.7277125742976523,
                0.15189821222141547,
                -1.2042877202732003,
                -2.322211418692539,
                0.028887675765630595,
                2.3116106489850625,
                -4.595243581140116
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
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                0.03586578806577964,
                0.997474760034463
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              "ee_path_m": 0.8033381092018353,
              "joint_path_rad": 6.3841468307988105,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.02090833279498e-10,
                "card_holder0": 1.2031071336786197e-10,
                "queen_of_spades": 1.2214384590943878e-10,
                "card_holder1": 1.2048813886882948e-10,
                "2_of_hearts": 1.222207689778391e-10,
                "card_holder2": 1.2058395411520954e-10,
                "6_of_clubs": 1.2231828250272085e-10,
                "card_holder3": 1.4088398828057003e-08,
                "jack_of_diamonds": 0.06108334359488314
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.2524837255477905,
                0.12737724781036375,
                0.9652508932352066
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              "target_euler": [
                2.667205810546875,
                0.092644602060318,
                1.5298502445220947
              ],
              "joint_target": [
                0.4787290455020216,
                0.4563499155172182,
                -0.8665804378891994,
                -2.1381211803908617,
                -0.2267584663668674,
                2.4875521706569117,
                -5.627445759135072
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              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.25143728340168436,
                0.12451836985151457,
                0.9602024801383867
              ],
              "ee_path_m": 1.0055470733624772,
              "joint_path_rad": 8.601520542383698,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 3.661625937024018e-10,
                "card_holder0": 3.559834491183595e-10,
                "queen_of_spades": 3.494541569839955e-10,
                "card_holder1": 3.464477130541948e-10,
                "2_of_hearts": 3.399285760493605e-10,
                "card_holder2": 3.3778661092594083e-10,
                "6_of_clubs": 3.313336916483946e-10,
                "card_holder3": 4.2900170493760825e-08,
                "jack_of_diamonds": 0.06131074987835201
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "jack_of_diamonds"
          ],
          "alternative_entity": null,
          "original_entity": [
            "jack_of_diamonds"
          ],
          "initial_physics_sha256": "3f877b9d0aa4fce89fea983af27077a9d496f88b112aa78045878e19d2b8e8af",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "67de1c279efd41435848e9230907ab7da0592ff1df19ee35da9a7f99170eddf9",
          "observation_matches_upstream": true,
          "wall_s": 11.03278030200454,
          "ee_path_m": 1.0055470733624772,
          "joint_path_rad": 8.601520542383698,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 19.93087819199718,
          "compiled_physics_parameters_sha256": "61005b74323be9118d9e2739393e834c089c5cdbb6eeaaaedfe68eab36ff1f40",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 75
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_6",
          "row": {
            "task": "select_poker",
            "seed": 48,
            "track_index": 6,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      3.8642890570140353e-13,
                      -5.545555182370144e-13,
                      -7.789010677885988e-07
                    ],
                    "orientation": [
                      1.0,
                      -3.1778474508886374e-09,
                      -2.2133473135337998e-09,
                      -9.013288276381104e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.16699974591358552,
                      0.005595146231911534,
                      0.7659989992187971
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.812142380056193e-09,
                      6.820232502671688e-10,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.16699972320961695,
                      0.005595113630160135,
                      0.8309988967526866
                    ],
                    "orientation": [
                      0.4999999995043872,
                      -0.5000000027071249,
                      0.5000000004956137,
                      0.49999999729287453
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06617680600176057,
                      0.15408885678631498,
                      0.7659989987213236
                    ],
                    "orientation": [
                      0.7071067811865488,
                      -3.8121423801015644e-09,
                      6.820232502975795e-10,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06617678329779163,
                      0.15408882418456313,
                      0.8309988962552323
                    ],
                    "orientation": [
                      0.49999999950438784,
                      -0.500000002707124,
                      0.5000000004956141,
                      0.49999999729287403
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.07253494469720136,
                      0.07095965405280827,
                      0.7659989998637138
                    ],
                    "orientation": [
                      0.7071067811865488,
                      -3.8121423800270785e-09,
                      6.820232502571866e-10,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07253496740117003,
                      0.0709596214510563,
                      0.8309988973975784
                    ],
                    "orientation": [
                      0.499999999504387,
                      -0.5000000027071251,
                      0.5000000004956134,
                      0.4999999972928748
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker jack of diamonds"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "jack_of_diamonds"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker jack of diamonds",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 86,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.06068349629640579,
              0.08047399520874021,
              0.9300543504953385
            ],
            "target_euler": [
              3.0961644649505615,
              -0.08432838320732117,
              -0.02059578150510788
            ],
            "joint_target": [
              0.22561938972440856,
              0.15835433083991474,
              -0.3294959854714462,
              -2.426704660314775,
              -0.06445742289034323,
              2.5371419208574717,
              -3.9525338818197304
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            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.060533484487196865,
              0.0772606439929777,
              0.9225697759662592
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            "ee_path_m": 0.7293133589455184,
            "joint_path_rad": 4.350477248180046,
            "native_success": true,
            "simulation_time_s": 10.599999999999564,
            "object_displacement_m": {
              "table": 9.514134998991585e-07,
              "card_holder0": 9.32529505510219e-07,
              "king_of_hearts": 9.325284906623298e-07,
              "card_holder1": 9.498631247442419e-07,
              "5_of_hearts": 9.498620999687355e-07,
              "card_holder2": 8.602974793497093e-05,
              "jack_of_diamonds": 0.07253016912018366
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "jack_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.06300482898950577,
                0.07392708063125608,
                0.932682051062584
              ],
              "target_euler": [
                -3.182915449142456,
                -0.08337359130382538,
                -0.033174268901348114
              ],
              "joint_target": [
                0.21494904942081727,
                0.1353028244182123,
                -0.32634828280064254,
                -2.449544859402985,
                -0.07617504832703761,
                2.541541191291884,
                -3.938608661801824
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              "gripper": [
                0.04,
                0.04
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              "ee_position": [
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              "ee_path_m": 0.5489427021252533,
              "joint_path_rad": 3.175542426593702,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 2.1965766761197366e-18,
                "card_holder0": 2.3937964579080023e-12,
                "king_of_hearts": 3.573292124718256e-12,
                "card_holder1": 2.448947906106182e-12,
                "5_of_hearts": 3.6329368223888265e-12,
                "card_holder2": 2.448947906106182e-12,
                "jack_of_diamonds": 3.6234004908531123e-12
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 86,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.06068349629640579,
                0.08047399520874021,
                0.9300543504953385
              ],
              "target_euler": [
                3.0961644649505615,
                -0.08432838320732117,
                -0.02059578150510788
              ],
              "joint_target": [
                0.22561938972440856,
                0.15835433083991474,
                -0.3294959854714462,
                -2.426704660314775,
                -0.06445742289034323,
                2.5371419208574717,
                -3.9525338818197304
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              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.060533484487196865,
                0.0772606439929777,
                0.9225697759662592
              ],
              "ee_path_m": 0.7293133589455184,
              "joint_path_rad": 4.350477248180046,
              "native_success": true,
              "simulation_time_s": 10.599999999999564,
              "object_displacement_m": {
                "table": 9.514134998991585e-07,
                "card_holder0": 9.32529505510219e-07,
                "king_of_hearts": 9.325284906623298e-07,
                "card_holder1": 9.498631247442419e-07,
                "5_of_hearts": 9.498620999687355e-07,
                "card_holder2": 8.602974793497093e-05,
                "jack_of_diamonds": 0.07253016912018366
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            },
            "200": {
              "step": 86,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.06068349629640579,
                0.08047399520874021,
                0.9300543504953385
              ],
              "target_euler": [
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                -0.02059578150510788
              ],
              "joint_target": [
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                -0.3294959854714462,
                -2.426704660314775,
                -0.06445742289034323,
                2.5371419208574717,
                -3.9525338818197304
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                0.060533484487196865,
                0.0772606439929777,
                0.9225697759662592
              ],
              "ee_path_m": 0.7293133589455184,
              "joint_path_rad": 4.350477248180046,
              "native_success": true,
              "simulation_time_s": 10.599999999999564,
              "object_displacement_m": {
                "table": 9.514134998991585e-07,
                "card_holder0": 9.32529505510219e-07,
                "king_of_hearts": 9.325284906623298e-07,
                "card_holder1": 9.498631247442419e-07,
                "5_of_hearts": 9.498620999687355e-07,
                "card_holder2": 8.602974793497093e-05,
                "jack_of_diamonds": 0.07253016912018366
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            }
          },
          "steps": 86,
          "simulator_steps": 86,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "jack_of_diamonds"
          ],
          "alternative_entity": null,
          "original_entity": [
            "jack_of_diamonds"
          ],
          "initial_physics_sha256": "d18289fba45ef11a37b36a73ca32c126b785c583ccf86e0bd26d67b5897af86d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "252f2c9232c392055cf89377d5af9af0e9b68ff523044e03630691ee19216069",
          "observation_matches_upstream": true,
          "wall_s": 4.867170458994224,
          "ee_path_m": 0.7293133589455184,
          "joint_path_rad": 4.350477248180046,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 13.223451040001237,
          "compiled_physics_parameters_sha256": "ae8e4c22ea5514da66136dd409e3dd6f2617c0cb29d9dad17820328b4fab2022",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 75
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_poker_7",
          "row": {
            "task": "select_poker",
            "seed": 49,
            "track_index": 7,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      8.993010706098417e-14,
                      -1.0174838478983354e-12,
                      -7.872541652875655e-07
                    ],
                    "orientation": [
                      1.0,
                      -5.117511683830617e-09,
                      -4.5210121872354474e-10,
                      -3.4739328163569874e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.22159409258072887,
                      0.07013864205371936,
                      0.7659989907221931
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917337464e-09,
                      3.2989546876713754e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22159408794332378,
                      0.07013858955458034,
                      0.8309988882564122
                    ],
                    "orientation": [
                      0.4999999976470657,
                      -0.5000000028046608,
                      0.5000000023529358,
                      0.4999999971953378
                    ],
                    "class": "Poker",
                    "value": "10",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06397785497318992,
                      0.07305675226437446,
                      0.7659989908348444
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917287759e-09,
                      3.2989546877274984e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.063977850335785,
                      0.07305669976523622,
                      0.8309988883690591
                    ],
                    "orientation": [
                      0.4999999976470649,
                      -0.5000000028046615,
                      0.5000000023529362,
                      0.4999999971953374
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05492023439563817,
                      0.03904483541805253,
                      0.7659989912904697
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.9383169172991586e-09,
                      3.2989546876022165e-09,
                      0.7071067811865482
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05492023903304272,
                      0.03904478291891425,
                      0.8309988888246669
                    ],
                    "orientation": [
                      0.49999999764706304,
                      -0.5000000028046634,
                      0.5000000023529344,
                      0.4999999971953392
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.19783883614347678,
                      0.18918167358242372,
                      0.7659989898830285
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.93831691733311e-09,
                      3.2989546876239143e-09,
                      0.7071067811865485
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.19783884078088182,
                      0.189181621083284,
                      0.8309988874172801
                    ],
                    "orientation": [
                      0.4999999976470659,
                      -0.5000000028046607,
                      0.5000000023529361,
                      0.4999999971953377
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of spades"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_spades"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of spades",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "10_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "3_of_spades": 0.0,
              "card_holder3": 0.0,
              "6_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 85,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.22505711019039154,
              0.07628569602966306,
              0.9280671018362046
            ],
            "target_euler": [
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      5.203463978305751e-13,
                      -1.21887868662231e-12,
                      -7.789010667117315e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.984232505527051e-09,
                      -2.980243893441161e-09,
                      -2.765812391420025e-17
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.20318190056268576,
                      0.17630451880536321,
                      0.7659989963198195
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                      0.7071067811865474,
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                      0.707106781186547
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                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.20318186999214186,
                      0.17630444715375482,
                      0.8309988938538234
                    ],
                    "orientation": [
                      0.49999999796941724,
                      -0.5000000050083553,
                      0.5000000020305819,
                      0.4999999949916455
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06537056478904346,
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                      0.7659989971508677
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                    "orientation": [
                      0.707106781186547,
                      -7.045942605540012e-09,
                      2.8312771686000086e-09,
                      0.7071067811865476
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                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06537053421849995,
                      0.17561598391950844,
                      0.8309988946848395
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                    "orientation": [
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                      0.5000000020305824,
                      0.4999999949916449
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                    "class": "Poker",
                    "value": "10",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                      0.15498512451485397,
                      0.7659989981401398
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                    "orientation": [
                      0.7071067811865469,
                      -7.045942605605426e-09,
                      2.8312771685680968e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.052250613322980255,
                      0.15498505286324626,
                      0.8309988956740733
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                    "orientation": [
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                      -0.5000000050083548,
                      0.5000000020305824,
                      0.49999999499164505
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                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of clubs",
          "initial": {
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              "card_holder0": 0.0,
              "6_of_spades": 0.0,
              "card_holder1": 0.0,
              "10_of_clubs": 0.0,
              "card_holder2": 0.0,
              "7_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
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          "final": {
            "step": 200,
            "substeps": 1,
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              "card_holder0": 2.557076391681973e-06,
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              "card_holder1": 0.0383209774732838,
              "10_of_clubs": 0.0908762752099132,
              "card_holder2": 2.663134464504783e-06,
              "7_of_hearts": 2.655581241974777e-06
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          "snapshots": {
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                "card_holder0": 1.114509895382398e-06,
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                "7_of_hearts": 1.0378000260085738e-06
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            "200": {
              "step": 200,
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              "native_success": false,
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              "object_displacement_m": {
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                "card_holder0": 2.557076391681973e-06,
                "6_of_spades": 2.5584082820790486e-06,
                "card_holder1": 0.0383209774732838,
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                "card_holder2": 2.663134464504783e-06,
                "7_of_hearts": 2.655581241974777e-06
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              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
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          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "10_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "10_of_clubs"
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          "initial_physics_sha256": "9887d1e17711416b5e3e7ee8deda3ac722e5d5bd5bf265fbec8abb6a66e193fd",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "169364a1b747e2f9f762ca69ede32c3e0fef60d473bca17979ddcf96469afaa0",
          "observation_matches_upstream": true,
          "wall_s": 10.74832672100456,
          "ee_path_m": 1.6185103907971823,
          "joint_path_rad": 11.968390405027968,
          "ik_nonconverged": 1,
          "ever_grasped_objects": [
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            "card_holder1"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
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          "total_wall_s": 18.912455603000126,
          "compiled_physics_parameters_sha256": "b2887d9db50716d77937414dfcc250e1e087b92dd0d67a706e160625ae61eef7",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 53
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 11,
          "id": "seed11_select_toy_0",
          "row": {
            "task": "select_toy",
            "seed": 42,
            "track_index": 0,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -1.1233457206763792e-08,
                      2.3304283678471674e-10,
                      -7.675361707509702e-07
                    ],
                    "orientation": [
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                      -2.95191183760016e-09,
                      3.995516596393811e-09
                    ],
                    "class": "Table",
                    "materials": [
                      "stone2"
                    ]
                  },
                  {
                    "name": "giftbox_seen",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml",
                    "position": [
                      0.2116228308662884,
                      0.03419328189914477,
                      0.7709990940592165
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                    "orientation": [
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                    "class": "CommonContainer"
                  },
                  {
                    "name": "mickey",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml",
                    "position": [
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                      -0.15254077909313435,
                      0.7598772497477722
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                    "orientation": [
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                      0.00025859025775924803,
                      -0.00034523909945493203
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                    "class": "Toy"
                  },
                  {
                    "name": "luffy",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml",
                    "position": [
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                      0.16217680575838672,
                      0.7656458678624997
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                    "orientation": [
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                      0.7073638089410779,
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                    "class": "Toy"
                  },
                  {
                    "name": "ironman",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml",
                    "position": [
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                      -0.14919536744435108,
                      0.7649969164582312
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                    "orientation": [
                      0.7068255496480758,
                      0.707387899157554,
                      -1.711940729884559e-05,
                      4.6873058721711186e-05
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                    "class": "Toy"
                  },
                  {
                    "name": "spiderman",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml",
                    "position": [
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                      0.7651708161886267
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                    "orientation": [
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                    "class": "Toy"
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                ],
                "scene": {
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                  "position": [
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                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Put the mickey into the giftbox_seen"
                ],
                "conditions": {
                  "contain": {
                    "container": "giftbox_seen",
                    "entities": [
                      "mickey"
                    ]
                  }
                },
                "target_entity": [
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                ],
                "target_container": "giftbox_seen"
              }
            }
          },
          "instruction": "Put the mickey into the giftbox",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "giftbox_seen": 0.0,
              "mickey": 0.0,
              "luffy": 0.0,
              "ironman": 0.0,
              "spiderman": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
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            "gripper": [
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            "ee_path_m": 2.080510405101069,
            "joint_path_rad": 13.566884245234347,
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            "object_displacement_m": {
              "table": 6.559082997117448e-07,
              "giftbox_seen": 5.901894083547337e-07,
              "mickey": 0.5657267248555513,
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              "ironman": 6.407932273071588e-07,
              "spiderman": 6.901417509255994e-07
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            "task_progress": 0.5,
            "intention_score": 1.0,
            "grasped_objects": [
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          },
          "snapshots": {
            "60": {
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              "object_displacement_m": {
                "table": 1.989360033262423e-07,
                "giftbox_seen": 2.0307471687246317e-07,
                "mickey": 0.0007494862810473657,
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                "ironman": 2.0727807365214365e-07,
                "spiderman": 2.191675010009718e-07
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              "task_progress": 0.5,
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            "100": {
              "step": 100,
              "substeps": 1,
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              "joint_target": [
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          "instruction": "Please take the book steve jobs",
          "policy_seed": 29,
          "id": "seed29_object__select_book_6eca3d0b773d_A",
          "row": {
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            "axis": "object",
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            "source": "native",
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            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_book__seed2.json",
            "builder_seed": null,
            "intent": "A",
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            "alternative_surface": "critical infrastructure protection in homeland security",
            "requested_entity": "steve_jobs",
            "language": "en",
            "source_text_en": "Please take the book steve jobs",
            "source_text": "Please take the book steve jobs",
            "text_hash_en": "c6c52b5a8a399921869748f9eb742bc86c60f448b48c49b631429ed8efa80f8e"
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          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
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            "source_text_en": "Please take the book critical infrastructure protection in homeland security",
            "source_text": "Please take the book critical infrastructure protection in homeland security",
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                "table": 6.652666130662957e-05,
                "shelf_seen": 0.0,
                "critical_infrastructure_protection_in_homeland_security": 1.3507754866138251e-06,
                "government_and_information_rights": 2.2172612011092182e-06,
                "steve_jobs": 1.204663840382414e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [],
              "requested_met": false,
              "alternative_met": false
            }
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          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_first_either_goal",
          "requested_entity": "steve_jobs",
          "alternative_entity": "critical_infrastructure_protection_in_homeland_security",
          "original_entity": "steve_jobs",
          "initial_physics_sha256": "682978c2a93c7b24228ea088749eac528ee3608b1896ce762cfe99974c419ff3",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "7772f5b184436e8986354df3aa1e14ab5a1a45f2520a75f2a7e77b36061caebc",
          "observation_matches_upstream": true,
          "wall_s": 9.865995678002946,
          "ee_path_m": 4.244176300044841,
          "joint_path_rad": 42.711327287839794,
          "ik_nonconverged": 9,
          "ever_grasped_objects": [],
          "hold": {
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            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
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          "total_wall_s": 16.0558788410126,
          "compiled_physics_parameters_sha256": "36e69323afa97f93bf59cad815479aeb3361dc6181e880af0aa9e6a2ba7e54c1",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
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        },
        {
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          "condition": "shuffled",
          "instruction": "Please take the book engineering biopolymers",
          "donor_state": "object__select_book:79cb6502b4901d8265475ee9dca1bf9a63acde952bcdfd09b0e37afae5f276d3",
          "policy_seed": 29,
          "id": "seed29_object__select_book_6eca3d0b773d_shuffled",
          "row": {
            "condition_id": "object__select_book|6eca3d0b773d|A|en",
            "template_id": "object__select_book",
            "axis": "object",
            "family": "select_book",
            "source": "native",
            "state_hash": "6eca3d0b773d76d2542a7e4b5c3ff42507e87e4c1bc210a3e1478ef45f7beafd",
            "scene_seed": 2,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_book__seed2.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "steve jobs",
            "alternative_surface": "critical infrastructure protection in homeland security",
            "requested_entity": "steve_jobs",
            "language": "en",
            "source_text_en": "Please take the book steve jobs",
            "source_text": "Please take the book steve jobs",
            "text_hash_en": "c6c52b5a8a399921869748f9eb742bc86c60f448b48c49b631429ed8efa80f8e"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 9.310582713995245,
          "original_entity": "steve_jobs"
        },
        {
          "kind": "paired",
          "condition": "trusted",
          "instruction": "Please take the book engineering biopolymers",
          "policy_seed": 29,
          "id": "seed29_object__select_book_79cb6502b490_A",
          "row": {
            "condition_id": "object__select_book|79cb6502b490|A|en",
            "template_id": "object__select_book",
            "axis": "object",
            "family": "select_book",
            "source": "native",
            "state_hash": "79cb6502b4901d8265475ee9dca1bf9a63acde952bcdfd09b0e37afae5f276d3",
            "scene_seed": 8,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_book__seed8.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "engineering biopolymers",
            "alternative_surface": "contract law in japan",
            "requested_entity": "engineering_biopolymers",
            "language": "en",
            "source_text_en": "Please take the book engineering biopolymers",
            "source_text": "Please take the book engineering biopolymers",
            "text_hash_en": "b56880d7e58e10fb3c31b5a3739e426c3252df151e28cc30e0dfdb225e60a60f"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 12.138411378007731,
          "original_entity": "engineering_biopolymers"
        },
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          "condition": "trusted",
          "instruction": "Please take the book contract law in japan",
          "policy_seed": 29,
          "id": "seed29_object__select_book_79cb6502b490_B",
          "row": {
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            "template_id": "object__select_book",
            "axis": "object",
            "family": "select_book",
            "source": "native",
            "state_hash": "79cb6502b4901d8265475ee9dca1bf9a63acde952bcdfd09b0e37afae5f276d3",
            "scene_seed": 8,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_book__seed8.json",
            "builder_seed": null,
            "intent": "B",
            "requested_surface": "contract law in japan",
            "alternative_surface": "engineering biopolymers",
            "requested_entity": "contract_law_in_japan",
            "language": "en",
            "source_text_en": "Please take the book contract law in japan",
            "source_text": "Please take the book contract law in japan",
            "text_hash_en": "533bd80f58f284060529a4ebe16641d5c8846be615d068e2eeda2317aaef915b"
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            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
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          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
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            "requested_surface": "the autobiography of benjamin franklin",
            "alternative_surface": "the story of american freedom",
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            "language": "en",
            "source_text_en": "Please take the book the autobiography of benjamin franklin",
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          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
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            "alternative_surface": "the autobiography of benjamin franklin",
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            "language": "en",
            "source_text_en": "Please take the book the story of american freedom",
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.12127831357394112,
                      -0.06790734667834057,
                      0.8050066534428035
                    ],
                    "orientation": [
                      9.294426082403904e-07,
                      -0.00021434335381509875,
                      0.0007963022718209912,
                      0.9999996599793196
                    ],
                    "class": "Mahjong",
                    "value": "7",
                    "suite": "man"
                  },
                  {
                    "name": "6_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.051273698747546594,
                      -0.06790731623453235,
                      0.8050086158413138
                    ],
                    "orientation": [
                      6.760631216706166e-07,
                      -0.0001631600089716615,
                      0.0007963336663821617,
                      0.9999996696154682
                    ],
                    "class": "Mahjong",
                    "value": "6",
                    "suite": "sou"
                  },
                  {
                    "name": "9_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.01872641480089971,
                      -0.06790735973764088,
                      0.8050086615650296
                    ],
                    "orientation": [
                      1.000490180533313e-06,
                      -0.00016198041083519084,
                      0.0007963082309123752,
                      0.9999996698272186
                    ],
                    "class": "Mahjong",
                    "value": "9",
                    "suite": "pin"
                  },
                  {
                    "name": "1_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.08872269672541407,
                      -0.06790734758583021,
                      0.8050070892156402
                    ],
                    "orientation": [
                      1.134414337310285e-06,
                      -0.0002030206813770323,
                      0.0007963447237575353,
                      0.9999996623081411
                    ],
                    "class": "Mahjong",
                    "value": "1",
                    "suite": "pin"
                  },
                  {
                    "name": "3_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.15872679680984714,
                      -0.06790735759480258,
                      0.8050088262224979
                    ],
                    "orientation": [
                      1.069023616275326e-06,
                      -0.0001576983737376503,
                      0.0007963264058819566,
                      0.9999996704971129
                    ],
                    "class": "Mahjong",
                    "value": "3",
                    "suite": "pin"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Pick up the mahjong of 1 pin"
                ],
                "conditions": {
                  "contain": {
                    "entities": [
                      "1_pin"
                    ],
                    "container": "placemat"
                  }
                },
                "target_entity": [
                  "1_pin"
                ],
                "target_container": "placemat"
              }
            }
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 11.66871617200377,
          "original_entity": [
            "1_pin"
          ]
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_mahjong_6",
          "row": {
            "task": "select_mahjong",
            "seed": 48,
            "track_index": 6,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -2.8163896611385162e-11,
                      1.4717706264748263e-10,
                      -3.9465424470337763e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.391395850862989e-09,
                      -2.7926531533432833e-09,
                      8.26277859669751e-12
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "placemat",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/tablewares/placemats/placemat_3/placemat_3.xml",
                    "position": [
                      -0.09789528472210074,
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                    "orientation": [
                      0.9995072239103848,
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                      -0.00018514570451743926,
                      -0.031304001743134406
                    ],
                    "class": "PlaceMat"
                  },
                  {
                    "name": "5_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.2717781659925867,
                      -0.0816906908801763,
                      0.8050086874654255
                    ],
                    "orientation": [
                      1.1246742499304056e-06,
                      -0.00016135145177758486,
                      0.0007963762121721829,
                      0.9999996698746316
                    ],
                    "class": "Mahjong",
                    "value": "5",
                    "suite": "man"
                  },
                  {
                    "name": "1_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.2017782991501448,
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                    ],
                    "orientation": [
                      1.048106185392301e-06,
                      -0.00016275138956008622,
                      0.0007963676281048858,
                      0.9999996696546892
                    ],
                    "class": "Mahjong",
                    "value": "1",
                    "suite": "pin"
                  },
                  {
                    "name": "9_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.13178297969147565,
                      -0.08169068243391453,
                      0.8050066328951374
                    ],
                    "orientation": [
                      1.0683582064479424e-06,
                      -0.0002149144396722319,
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                      0.999999659792764
                    ],
                    "class": "Mahjong",
                    "value": "9",
                    "suite": "man"
                  },
                  {
                    "name": "6_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    ],
                    "orientation": [
                      9.388206836198159e-07,
                      -0.00016071947757821835,
                      0.0007963646343852384,
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                    ],
                    "class": "Mahjong",
                    "value": "6",
                    "suite": "sou"
                  },
                  {
                    "name": "9_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    ],
                    "class": "Mahjong",
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                    "suite": "pin"
                  },
                  {
                    "name": "3_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    "orientation": [
                      1.0970893930221232e-06,
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                    ],
                    "class": "Mahjong",
                    "value": "3",
                    "suite": "pin"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Pick up the mahjong of 5 man"
                ],
                "conditions": {
                  "contain": {
                    "entities": [
                      "5_man"
                    ],
                    "container": "placemat"
                  }
                },
                "target_entity": [
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                "target_container": "placemat"
              }
            }
          },
          "instruction": "Pick up the mahjong of 5 man",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
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          "final": {
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            "substeps": 1,
            "ik_converged": true,
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            "intention_score": 1.0,
            "grasped_objects": [
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          "snapshots": {
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              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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            "100": {
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          "simulator_steps": 147,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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        {
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                  {
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                      0.0897790000380745,
                      0.830998887685682
                    ],
                    "orientation": [
                      0.49999999663500916,
                      -0.5000000038593199,
                      0.5000000033649898,
                      0.4999999961406808
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.07132329818905563,
                      0.13511627070670124,
                      0.7659989896327757
                    ],
                    "orientation": [
                      0.7071067811865478,
                      -5.418498345520494e-09,
                      4.718837214032498e-09,
                      0.7071067811865467
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "ace_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.07132329311430258,
                      0.13511619717054665,
                      0.8309988871670383
                    ],
                    "orientation": [
                      0.49999999663501,
                      -0.5000000038593192,
                      0.500000003364991,
                      0.49999999614067986
                    ],
                    "class": "Poker",
                    "value": "ace",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.06448608627030991,
                      0.14452414998650198,
                      0.7659989896322817
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -5.418498345494513e-09,
                      4.7188372140756835e-09,
                      0.7071067811865469
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06448609134506332,
                      0.14452407645034762,
                      0.8309988871665444
                    ],
                    "orientation": [
                      0.49999999663500955,
                      -0.5000000038593198,
                      0.5000000033649904,
                      0.49999999614068064
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.17495944374181277,
                      0.15083575048547707,
                      0.7659989896511078
                    ],
                    "orientation": [
                      0.7071067811865485,
                      -5.418498345461203e-09,
                      4.718837214111333e-09,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.1749594488165663,
                      0.15083567694932148,
                      0.8309988871853697
                    ],
                    "orientation": [
                      0.499999996635009,
                      -0.50000000385932,
                      0.5000000033649893,
                      0.49999999614068147
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker ace of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "ace_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "ace_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "ace_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker ace of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_clubs": 0.0,
              "card_holder1": 0.0,
              "ace_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_hearts": 0.0,
              "card_holder3": 0.0,
              "9_of_spades": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.15652699768543243,
              0.10753408670425413,
              0.806217794045806
            ],
            "target_euler": [
              -1.3945565223693848,
              0.2026563584804535,
              1.6221201419830322
            ],
            "joint_target": [
              -1.3684933029305342,
              1.9921944986758462,
              1.0799552476883407,
              -1.9619069988239335,
              -0.15962254537195178,
              2.2349477926526387,
              -5.756626404751652
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.09066466796382999,
              0.12293115334779033,
              0.8081185027944751
            ],
            "ee_path_m": 1.831744406786568,
            "joint_path_rad": 13.804360128464555,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 4.379884547442438e-06,
              "card_holder0": 0.0003627175541985663,
              "king_of_clubs": 0.05591430972284271,
              "card_holder1": 0.019799783846449558,
              "ace_of_hearts": 0.10596727983957407,
              "card_holder2": 4.475457620112801e-06,
              "jack_of_hearts": 0.08679667741086154,
              "card_holder3": 4.3431503564576164e-06,
              "9_of_spades": 0.022483138541158285
            },
            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.10193517804145813,
                0.13038364648818968,
                0.8391951012611389
              ],
              "target_euler": [
                -3.1937203407287598,
                -0.19066081941127777,
                0.06188008934259415
              ],
              "joint_target": [
                -0.10164599731444804,
                0.5274123657169681,
                0.30509273393693725,
                -2.1500435701958196,
                -0.5809381897277709,
                2.4984152674414326,
                -3.3186878126777484
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.10343986743192801,
                0.12977788600242152,
                0.8450787856677349
              ],
              "ee_path_m": 0.6092237157123327,
              "joint_path_rad": 3.839953482462501,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.2551899854291487e-07,
                "card_holder0": 1.3299427785340846e-07,
                "king_of_clubs": 1.3378255904636557e-07,
                "card_holder1": 6.943491130837767e-06,
                "ace_of_hearts": 0.0036315353307952267,
                "card_holder2": 1.3600989617364438e-07,
                "jack_of_hearts": 1.3668699019259605e-07,
                "card_holder3": 1.3677724784413589e-07,
                "9_of_spades": 1.374111613669569e-07
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.1348850131034851,
                0.16516206264495847,
                0.9699422407150269
              ],
              "target_euler": [
                3.0689775943756104,
                -0.0766829401254654,
                0.08294683694839478
              ],
              "joint_target": [
                -0.6004550999228316,
                0.5081370243013735,
                0.9159947452055945,
                -1.9973323349744938,
                -0.557861120832184,
                2.15266144951458,
                -3.3892821136717286
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.13359148462938586,
                0.16288987946133987,
                0.9648915953439445
              ],
              "ee_path_m": 0.9701313261031025,
              "joint_path_rad": 5.861057152193424,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 7.292190539771353e-07,
                "card_holder0": 7.594506722209642e-07,
                "king_of_clubs": 7.594508467419014e-07,
                "card_holder1": 7.162362264966084e-05,
                "ace_of_hearts": 0.05574793726872212,
                "card_holder2": 7.732751585724362e-07,
                "jack_of_hearts": 7.732748335832469e-07,
                "card_holder3": 7.76555555485608e-07,
                "9_of_spades": 7.765550006468317e-07
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.15652699768543243,
                0.10753408670425413,
                0.806217794045806
              ],
              "target_euler": [
                -1.3945565223693848,
                0.2026563584804535,
                1.6221201419830322
              ],
              "joint_target": [
                -1.3684933029305342,
                1.9921944986758462,
                1.0799552476883407,
                -1.9619069988239335,
                -0.15962254537195178,
                2.2349477926526387,
                -5.756626404751652
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.09066466796382999,
                0.12293115334779033,
                0.8081185027944751
              ],
              "ee_path_m": 1.831744406786568,
              "joint_path_rad": 13.804360128464555,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 4.379884547442438e-06,
                "card_holder0": 0.0003627175541985663,
                "king_of_clubs": 0.05591430972284271,
                "card_holder1": 0.019799783846449558,
                "ace_of_hearts": 0.10596727983957407,
                "card_holder2": 4.475457620112801e-06,
                "jack_of_hearts": 0.08679667741086154,
                "card_holder3": 4.3431503564576164e-06,
                "9_of_spades": 0.022483138541158285
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "ace_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "ace_of_hearts"
          ],
          "initial_physics_sha256": "339b19645ae708790791e552f644cbde01605e01ef97b9e0466fb54e33252e9d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "ebb5c56987e2a62b0285dda51f4268891be45b80efbd020b6a33d7aa63717eaf",
          "observation_matches_upstream": true,
          "wall_s": 11.175117749007768,
          "ee_path_m": 1.831744406786568,
          "joint_path_rad": 13.804360128464555,
          "ik_nonconverged": 1,
          "ever_grasped_objects": [
            "ace_of_hearts",
            "card_holder0",
            "card_holder1"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 20.104328283996438,
          "compiled_physics_parameters_sha256": "5d20cb7a3fae28203061b1aa2b6177edd35c7677352795ea2a558653616616c9",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 65
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_1",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -8.966142902813692e-15,
                      -1.2332859642485835e-12,
                      -7.872541649825789e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.2023929677799605e-09,
                      4.516085765456397e-11,
                      1.3470521785538065e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.1833903621740975,
                      0.1892740131511156,
                      0.765998989309076
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259090152e-09,
                      4.4176978124116555e-09,
                      0.7071067811865461
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18339036263735997,
                      0.18927394952249763,
                      0.8309988868433503
                    ],
                    "orientation": [
                      0.49999999685195073,
                      -0.5000000031029258,
                      0.5000000031480504,
                      0.4999999968970729
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.0608359822106072,
                      0.11304565431153674,
                      0.7659989902436128
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259047346e-09,
                      4.417697812495295e-09,
                      0.7071067811865464
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06083598267386951,
                      0.11304559068291985,
                      0.830998887777851
                    ],
                    "orientation": [
                      0.49999999685194974,
                      -0.500000003102927,
                      0.5000000031480496,
                      0.4999999968970738
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0741595643643782,
                      0.056578099278987666,
                      0.7659989909318947
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259164623e-09,
                      4.417697812427819e-09,
                      0.7071067811865454
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07415956390111549,
                      0.05657803565037027,
                      0.8309988884661065
                    ],
                    "orientation": [
                      0.4999999968519501,
                      -0.5000000031029264,
                      0.5000000031480499,
                      0.4999999968970734
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.17334448768784513,
                      0.091263319360156,
                      0.765998990492669
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.3538312591097935e-09,
                      4.41769781238297e-09,
                      0.7071067811865466
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.1733444872245828,
                      0.09126325573153812,
                      0.8309988880268976
                    ],
                    "orientation": [
                      0.49999999685195057,
                      -0.5000000031029265,
                      0.5000000031480504,
                      0.4999999968970733
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 8 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "8_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 8 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "2_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "8_of_clubs": 0.0,
              "card_holder3": 0.0,
              "queen_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.13335369527339935,
              0.12821063995361326,
              0.9840488123893738
            ],
            "target_euler": [
              2.763592004776001,
              0.10588652640581131,
              0.8010483980178833
            ],
            "joint_target": [
              0.23410743978496973,
              0.3387008556812071,
              -0.43344972031334117,
              -1.9859818413411328,
              -0.1324390184123518,
              1.9984576947065236,
              -4.874301099248724
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.13286380135958578,
              0.12469545912236325,
              0.9784133989994928
            ],
            "ee_path_m": 0.7980461726539693,
            "joint_path_rad": 5.8675704367244235,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.9127655586282654e-06,
              "card_holder0": 1.8427860297319351e-06,
              "2_of_hearts": 1.8427814385663798e-06,
              "card_holder1": 1.8957998066800993e-06,
              "5_of_hearts": 1.8957953503292112e-06,
              "card_holder2": 1.959900827974093e-06,
              "8_of_clubs": 1.959899008004299e-06,
              "card_holder3": 0.00027790470860899243,
              "queen_of_diamonds": 0.1346071206650018
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "queen_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.16815365850925446,
                0.08132109642028806,
                0.8309892925620079
              ],
              "target_euler": [
                3.0168445110321045,
                -0.06109665706753731,
                0.23696592450141907
              ],
              "joint_target": [
                0.11813055175000403,
                0.5009498518160121,
                -0.39764048724287493,
                -2.2874608567968515,
                0.1656700237351905,
                2.66582041007838,
                -4.554299608990807
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              "gripper": [
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          "id": "seed29_select_poker_2",
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                    "suite": "spades"
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                  {
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                "card_holder3": 3.7053275257437997e-06,
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          "steps": 200,
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        {
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                      0.7659989982546671
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.641352680417562e-09,
                      1.5715111343539685e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.15881049925149912,
                      0.11944397416928333,
                      0.8309988957885945
                    ],
                    "orientation": [
                      0.49999999887068247,
                      -0.5000000032982417,
                      0.5000000011293158,
                      0.49999999670176
                    ],
                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.07369463407369549,
                      0.05716001839115409,
                      0.7659989991714484
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -4.641352680326007e-09,
                      1.5715111344216344e-09,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.07369461180695033,
                      0.05715997332156493,
                      0.8309988967053403
                    ],
                    "orientation": [
                      0.49999999887068275,
                      -0.5000000032982413,
                      0.5000000011293161,
                      0.4999999967017596
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0749570679408933,
                      0.14224438865918912,
                      0.7659989990692347
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.6413526803883e-09,
                      1.571511134413264e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07495709020763787,
                      0.1422443435896006,
                      0.8309988966031306
                    ],
                    "orientation": [
                      0.4999999988706842,
                      -0.5000000032982398,
                      0.5000000011293173,
                      0.4999999967017582
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 7 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "7_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 7 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "7_of_hearts": 0.0,
              "card_holder1": 0.0,
              "3_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.08077701181173325,
              0.09567624926567075,
              0.8837198752164841
            ],
            "target_euler": [
              2.807311773300171,
              0.10119181126356125,
              0.7694109082221985
            ],
            "joint_target": [
              0.2489853268928174,
              0.40318702718476707,
              -0.06004826816582489,
              -2.1394269570938653,
              -0.09535852712137086,
              2.205550776331284,
              -4.454902321879734
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.07992565361332155,
              0.09182622883382727,
              0.8736330948278273
            ],
            "ee_path_m": 1.1940918635812117,
            "joint_path_rad": 7.336281210649671,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.334988535198559e-06,
              "card_holder0": 1.94804024269755e-06,
              "7_of_hearts": 0.0709303909340953,
              "card_holder1": 0.004439148364667135,
              "3_of_hearts": 0.06263091137607175,
              "card_holder2": 2.303883668896298e-06,
              "jack_of_diamonds": 2.3038912912632442e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.09974057227373123,
                0.07088256478309629,
                0.8173939387500286
              ],
              "target_euler": [
                3.1101462841033936,
                -0.08263200521469116,
                0.04488673806190491
              ],
              "joint_target": [
                0.23231654423152767,
                0.4426568143435023,
                -0.023899024018360027,
                -2.3943280174885477,
                -0.190895114796376,
                2.786256699153708,
                -3.580173970874112
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.09940395567609833,
                0.06937463296036653,
                0.8157936245664128
              ],
              "ee_path_m": 0.525020683935211,
              "joint_path_rad": 3.273724273907593,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.2191536508597862e-06,
                "card_holder0": 1.2415496102448163e-06,
                "7_of_hearts": 0.059573245872379596,
                "card_holder1": 0.0002129992803407738,
                "3_of_hearts": 0.03128674975151494,
                "card_holder2": 1.208465191108351e-06,
                "jack_of_diamonds": 1.2094107593522081e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "3_of_hearts"
              ]
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.09252531826496124,
                0.05865437388420103,
                0.9934717255830765
              ],
              "target_euler": [
                3.053651809692383,
                -0.07713478058576584,
                0.07972828298807144
              ],
              "joint_target": [
                0.21423873850423536,
                -0.006417368572001771,
                0.002179118788382621,
                -2.40980002436206,
                -0.08641047407648236,
                2.303749858468553,
                -3.7266675762084187
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.09167956951608992,
                0.05520549431555194,
                0.9889776534407434
              ],
              "ee_path_m": 0.7194992900663019,
              "joint_path_rad": 4.120028413144792,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.336166022060784e-06,
                "card_holder0": 2.1959513443825903e-06,
                "7_of_hearts": 0.06741925037814277,
                "card_holder1": 0.0044390552891741,
                "3_of_hearts": 0.05713249972433076,
                "card_holder2": 2.3043755334099733e-06,
                "jack_of_diamonds": 2.304381364036024e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.08077701181173325,
                0.09567624926567075,
                0.8837198752164841
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              "target_euler": [
                2.807311773300171,
                0.10119181126356125,
                0.7694109082221985
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              "joint_target": [
                0.2489853268928174,
                0.40318702718476707,
                -0.06004826816582489,
                -2.1394269570938653,
                -0.09535852712137086,
                2.205550776331284,
                -4.454902321879734
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                -0.07992565361332155,
                0.09182622883382727,
                0.8736330948278273
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              "ee_path_m": 1.1940918635812117,
              "joint_path_rad": 7.336281210649671,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.334988535198559e-06,
                "card_holder0": 1.94804024269755e-06,
                "7_of_hearts": 0.0709303909340953,
                "card_holder1": 0.004439148364667135,
                "3_of_hearts": 0.06263091137607175,
                "card_holder2": 2.303883668896298e-06,
                "jack_of_diamonds": 2.3038912912632442e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "7_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "7_of_hearts"
          ],
          "initial_physics_sha256": "4f73f82f5780df87d49802fea7a0ce90af32e09917a271a7e9b88f8acf135ca1",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "d7d475b1055f2b8a2182df21752a915bfebff589934c546aa4a378799920c9f0",
          "observation_matches_upstream": true,
          "wall_s": 10.751893177002785,
          "ee_path_m": 1.1940918635812117,
          "joint_path_rad": 7.336281210649671,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "3_of_hearts"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 21.19118909999088,
          "compiled_physics_parameters_sha256": "1f85542eca6570f2ee4096ab955aec38518daba68a72b55c6f20b5d66949d5cd",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_4",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.542749798055852e-13,
                      -4.4897256357510424e-13,
                      -7.789010678285046e-07
                    ],
                    "orientation": [
                      1.0,
                      -2.572858804444268e-09,
                      -2.602040912461551e-09,
                      -8.532489215714537e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.18767530951069145,
                      0.08074528299367634,
                      0.7659989986014384
                    ],
                    "orientation": [
                      0.7071067811865475,
                      -3.6591953290127157e-09,
                      -2.0614878104259223e-11,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18767528281960347,
                      0.08074525659853957,
                      0.8309988961353516
                    ],
                    "orientation": [
                      0.5000000000034353,
                      -0.5000000025964476,
                      0.4999999999965628,
                      0.4999999974035538
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.05513235894890264,
                      0.022600027141975555,
                      0.7659989995904121
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.6591953290326665e-09,
                      -2.0614878074598264e-11,
                      0.7071067811865477
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05513233225781521,
                      0.022600000746839693,
                      0.830998897124287
                    ],
                    "orientation": [
                      0.5000000000034364,
                      -0.500000002596447,
                      0.49999999999656414,
                      0.49999999740355283
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05395523079590979,
                      0.08338912900350204,
                      0.7659989998453118
                    ],
                    "orientation": [
                      0.707106781186547,
                      -3.659195329021801e-09,
                      -2.06148781947021e-11,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05395525748699711,
                      0.08338910260836513,
                      0.8309988973791771
                    ],
                    "orientation": [
                      0.5000000000034368,
                      -0.5000000025964465,
                      0.49999999999656414,
                      0.49999999740355283
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker king of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "king_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker king of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_clubs": 0.0,
              "card_holder1": 0.0,
              "king_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "9_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.1263338178396225,
              0.05955356955528257,
              0.7990045777708292
            ],
            "target_euler": [
              -2.7231385707855225,
              0.025906383991241455,
              2.04036021232605
            ],
            "joint_target": [
              -1.1808442486193984,
              1.4106622092658196,
              1.1779297378750229,
              -2.224056332837661,
              -1.2452588633294661,
              2.1456895271002443,
              -5.138158871227525
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.10966204119650078,
              0.08674750286591694,
              0.790134357053373
            ],
            "ee_path_m": 1.2614388412127926,
            "joint_path_rad": 12.548785614210164,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.670677929405267e-06,
              "card_holder0": 0.001258358425570909,
              "king_of_clubs": 0.2615575457537819,
              "card_holder1": 2.7741226827539344e-06,
              "king_of_diamonds": 0.05388229357630689,
              "card_holder2": 2.617827442448155e-06,
              "9_of_hearts": 2.617825008419703e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.09568449854850769,
                0.012641048431396462,
                0.8748018655180931
              ],
              "target_euler": [
                3.014934539794922,
                -0.2900322675704956,
                0.13394197821617126
              ],
              "joint_target": [
                -1.8728592023070103,
                -0.3501678080749127,
                2.226649181301386,
                -2.5350364295067953,
                0.04353616344362216,
                2.560017271193819,
                -3.7245196512048735
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.09444824830006354,
                0.010275006658029051,
                0.8660224561713032
              ],
              "ee_path_m": 0.6616661770610852,
              "joint_path_rad": 6.281093515457699,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.2720407862857848e-10,
                "card_holder0": 1.1391833549421695e-10,
                "king_of_clubs": 1.128832862074275e-10,
                "card_holder1": 2.9355420704778295e-09,
                "king_of_diamonds": 0.05046485025489364,
                "card_holder2": 1.1405687941009439e-10,
                "9_of_hearts": 1.1305247400500411e-10
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.08746960014104843,
                0.012846624851226784,
                0.9978548276424408
              ],
              "target_euler": [
                2.959989070892334,
                -0.2616482973098755,
                0.5249725580215454
              ],
              "joint_target": [
                -1.6700202031510187,
                0.29481219736693487,
                1.9770846970993434,
                -2.508987872225499,
                -0.6715715771015457,
                2.12598008787499,
                -3.6482581929890645
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.0861892115553636,
                0.010496744264561614,
                0.995803089168945
              ],
              "ee_path_m": 0.7945165273831203,
              "joint_path_rad": 7.824491492182392,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 5.032815755064577e-10,
                "card_holder0": 3.7445680996194144e-10,
                "king_of_clubs": 3.7032575930277937e-10,
                "card_holder1": 3.033894736752292e-08,
                "king_of_diamonds": 0.05248800354494772,
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              "step": 200,
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          "steps": 200,
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            "completed_steps": 0,
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            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_5",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
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                "components": [
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                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
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                    "class": "Table",
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                  {
                    "name": "queen_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
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                    "class": "Poker",
                    "value": "queen",
                    "suite": "spades"
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                    "name": "card_holder1",
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                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
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                      0.8309988868898929
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                      0.5000000035942905,
                      0.49999999663284705
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                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
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                  {
                    "name": "6_of_clubs",
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                    "class": "Poker",
                    "value": "6",
                    "suite": "clubs"
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                  {
                    "name": "card_holder3",
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                  {
                    "name": "jack_of_diamonds",
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                    "class": "Poker",
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                "instructions": [
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                    "robot": "franka"
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                },
                "target_entity": [
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          },
          "instruction": "Please pick the poker jack of diamonds",
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              "card_holder2": 0.0,
              "6_of_clubs": 0.0,
              "card_holder3": 0.0,
              "jack_of_diamonds": 0.0
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                "card_holder2": 2.23984943404939e-06,
                "6_of_clubs": 2.239848711301468e-06,
                "card_holder3": 0.00030093729549712024,
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          },
          "steps": 79,
          "simulator_steps": 79,
          "boundary_rule": "live_native_goal",
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        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_6",
          "row": {
            "task": "select_poker",
            "seed": 48,
            "track_index": 6,
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                    "class": "Table",
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                    "class": "CardHolder"
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                  {
                    "name": "king_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "king",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
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                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                    "orientation": [
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                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                    "orientation": [
                      0.499999999504387,
                      -0.5000000027071251,
                      0.5000000004956134,
                      0.4999999972928748
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker jack of diamonds"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "jack_of_diamonds"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker jack of diamonds",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 82,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.0548354908823967,
              0.07423011064529417,
              0.9287475782632828
            ],
            "target_euler": [
              3.1211330890655518,
              -0.07806108146905899,
              0.08889148384332657
            ],
            "joint_target": [
              0.13630422398398828,
              0.13189881300884518,
              -0.23491538015572005,
              -2.472240957838896,
              -0.0957260620557116,
              2.5928496666712806,
              -4.030729683412116
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.054707382547195135,
              0.07056507897151916,
              0.9220594089949339
            ],
            "ee_path_m": 0.6729246513733834,
            "joint_path_rad": 4.361198370343474,
            "native_success": true,
            "simulation_time_s": 10.199999999999786,
            "object_displacement_m": {
              "table": 2.0514994351869134e-06,
              "card_holder0": 2.0147693408922123e-06,
              "king_of_hearts": 2.0147693101097035e-06,
              "card_holder1": 2.0459726897333106e-06,
              "5_of_hearts": 2.045972644665936e-06,
              "card_holder2": 0.00026486784477464933,
              "jack_of_diamonds": 0.07262125500173858
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "jack_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.05448402091860771,
                0.06223410964012144,
                0.8286842542886734
              ],
              "target_euler": [
                3.110414505004883,
                -0.07774531841278076,
                0.07468855381011963
              ],
              "joint_target": [
                0.09989013488450484,
                0.3887028042102751,
                -0.1885273431419438,
                -2.4760785403964674,
                -0.035058127292905084,
                2.8391809273565065,
                -4.043246254951416
              ],
              "gripper": [
                0.04,
                0.04
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              "ee_position": [
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                0.07320520879196869,
                0.8353511380139945
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              "ee_path_m": 0.5271665546419504,
              "joint_path_rad": 3.4697177055762656,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 8.326493006795833e-07,
                "card_holder0": 8.660607170790005e-07,
                "king_of_hearts": 8.702443494359254e-07,
                "card_holder1": 8.807916829618319e-07,
                "5_of_hearts": 8.849749897562442e-07,
                "card_holder2": 8.273954833405371e-05,
                "jack_of_diamonds": 0.011463664758221668
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 82,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.0548354908823967,
                0.07423011064529417,
                0.9287475782632828
              ],
              "target_euler": [
                3.1211330890655518,
                -0.07806108146905899,
                0.08889148384332657
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              "joint_target": [
                0.13630422398398828,
                0.13189881300884518,
                -0.23491538015572005,
                -2.472240957838896,
                -0.0957260620557116,
                2.5928496666712806,
                -4.030729683412116
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                0.054707382547195135,
                0.07056507897151916,
                0.9220594089949339
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              "ee_path_m": 0.6729246513733834,
              "joint_path_rad": 4.361198370343474,
              "native_success": true,
              "simulation_time_s": 10.199999999999786,
              "object_displacement_m": {
                "table": 2.0514994351869134e-06,
                "card_holder0": 2.0147693408922123e-06,
                "king_of_hearts": 2.0147693101097035e-06,
                "card_holder1": 2.0459726897333106e-06,
                "5_of_hearts": 2.045972644665936e-06,
                "card_holder2": 0.00026486784477464933,
                "jack_of_diamonds": 0.07262125500173858
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            },
            "200": {
              "step": 82,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.0548354908823967,
                0.07423011064529417,
                0.9287475782632828
              ],
              "target_euler": [
                3.1211330890655518,
                -0.07806108146905899,
                0.08889148384332657
              ],
              "joint_target": [
                0.13630422398398828,
                0.13189881300884518,
                -0.23491538015572005,
                -2.472240957838896,
                -0.0957260620557116,
                2.5928496666712806,
                -4.030729683412116
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.054707382547195135,
                0.07056507897151916,
                0.9220594089949339
              ],
              "ee_path_m": 0.6729246513733834,
              "joint_path_rad": 4.361198370343474,
              "native_success": true,
              "simulation_time_s": 10.199999999999786,
              "object_displacement_m": {
                "table": 2.0514994351869134e-06,
                "card_holder0": 2.0147693408922123e-06,
                "king_of_hearts": 2.0147693101097035e-06,
                "card_holder1": 2.0459726897333106e-06,
                "5_of_hearts": 2.045972644665936e-06,
                "card_holder2": 0.00026486784477464933,
                "jack_of_diamonds": 0.07262125500173858
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "jack_of_diamonds"
              ]
            }
          },
          "steps": 82,
          "simulator_steps": 82,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "jack_of_diamonds"
          ],
          "alternative_entity": null,
          "original_entity": [
            "jack_of_diamonds"
          ],
          "initial_physics_sha256": "d18289fba45ef11a37b36a73ca32c126b785c583ccf86e0bd26d67b5897af86d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "252f2c9232c392055cf89377d5af9af0e9b68ff523044e03630691ee19216069",
          "observation_matches_upstream": true,
          "wall_s": 4.742681920004543,
          "ee_path_m": 0.6729246513733834,
          "joint_path_rad": 4.361198370343474,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "jack_of_diamonds"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 13.090988196010585,
          "compiled_physics_parameters_sha256": "ae8e4c22ea5514da66136dd409e3dd6f2617c0cb29d9dad17820328b4fab2022",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 62
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_7",
          "row": {
            "task": "select_poker",
            "seed": 49,
            "track_index": 7,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      8.993010706098417e-14,
                      -1.0174838478983354e-12,
                      -7.872541652875655e-07
                    ],
                    "orientation": [
                      1.0,
                      -5.117511683830617e-09,
                      -4.5210121872354474e-10,
                      -3.4739328163569874e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.22159409258072887,
                      0.07013864205371936,
                      0.7659989907221931
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917337464e-09,
                      3.2989546876713754e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22159408794332378,
                      0.07013858955458034,
                      0.8309988882564122
                    ],
                    "orientation": [
                      0.4999999976470657,
                      -0.5000000028046608,
                      0.5000000023529358,
                      0.4999999971953378
                    ],
                    "class": "Poker",
                    "value": "10",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06397785497318992,
                      0.07305675226437446,
                      0.7659989908348444
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917287759e-09,
                      3.2989546877274984e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.063977850335785,
                      0.07305669976523622,
                      0.8309988883690591
                    ],
                    "orientation": [
                      0.4999999976470649,
                      -0.5000000028046615,
                      0.5000000023529362,
                      0.4999999971953374
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05492023439563817,
                      0.03904483541805253,
                      0.7659989912904697
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.9383169172991586e-09,
                      3.2989546876022165e-09,
                      0.7071067811865482
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05492023903304272,
                      0.03904478291891425,
                      0.8309988888246669
                    ],
                    "orientation": [
                      0.49999999764706304,
                      -0.5000000028046634,
                      0.5000000023529344,
                      0.4999999971953392
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.19783883614347678,
                      0.18918167358242372,
                      0.7659989898830285
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.93831691733311e-09,
                      3.2989546876239143e-09,
                      0.7071067811865485
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.19783884078088182,
                      0.189181621083284,
                      0.8309988874172801
                    ],
                    "orientation": [
                      0.4999999976470659,
                      -0.5000000028046607,
                      0.5000000023529361,
                      0.4999999971953377
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of spades"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_spades"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of spades",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "10_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "3_of_spades": 0.0,
              "card_holder3": 0.0,
              "6_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.17720003426074982,
              0.1223082900047302,
              0.9672284561395645
            ],
            "target_euler": [
              2.586158275604248,
              0.03324831649661064,
              1.5905823707580566
            ],
            "joint_target": [
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              0.42072669420604053,
              -0.6275331233878784,
              -2.0160100933496863,
              -0.28759087989506305,
              2.0830345344887147,
              -4.91976479022408
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.17564831247450458,
              0.11941497634676274,
              0.9622838522343982
            ],
            "ee_path_m": 1.3415505434398454,
            "joint_path_rad": 9.17810702763457,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.031676731248483e-06,
              "card_holder0": 2.0253785117762987e-06,
              "10_of_spades": 2.0253777363104713e-06,
              "card_holder1": 0.002448954266587423,
              "2_of_diamonds": 0.3325045138446028,
              "card_holder2": 2.0351310409349212e-06,
              "3_of_spades": 2.035130314246115e-06,
              "card_holder3": 2.0456348587494314e-06,
              "6_of_hearts": 2.0456340414597446e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.09170698374509811,
                0.07597426176071165,
                0.8192168164253235
              ],
              "target_euler": [
                3.144791603088379,
                -0.08759735524654388,
                0.11315472424030304
              ],
              "joint_target": [
                0.25921304413492513,
                0.4400994443364913,
                -0.06701713929636355,
                -2.4087686866275524,
                -0.19872227366089226,
                2.8381675340315216,
                -3.6525864387833353
              ],
              "gripper": [
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              ],
              "ee_position": [
                -0.09214905791435596,
                0.0781311410531691,
                0.8198481216880942
              ],
              "ee_path_m": 0.5352524312413461,
              "joint_path_rad": 3.3981555239999635,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.2024452348465322e-06,
                "card_holder0": 1.252731209020965e-06,
                "10_of_spades": 1.2551609234386643e-06,
                "card_holder1": 0.00022889872975338294,
                "2_of_diamonds": 0.026401947772316785,
                "card_holder2": 1.2217950918425004e-06,
                "3_of_spades": 1.2242194215160452e-06,
                "card_holder3": 1.2001348826288835e-06,
                "6_of_hearts": 1.2025637128350614e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "2_of_diamonds"
              ]
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.08485966175794601,
                0.06020713448524473,
                0.9720328587293625
              ],
              "target_euler": [
                3.087977409362793,
                -0.06572122126817703,
                0.17411759495735168
              ],
              "joint_target": [
                0.2330799144047243,
                0.020489002290509782,
                -0.036047137943482896,
                -2.4541784076463564,
                -0.09618437028010335,
                2.4171884177757392,
                -3.82923478760119
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.0840389402854381,
                0.056930999276915854,
                0.96736940722057
              ],
              "ee_path_m": 0.7046424485864844,
              "joint_path_rad": 4.217079608785907,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.6691817962484734e-06,
                "card_holder0": 1.703244343940151e-06,
                "10_of_spades": 1.7032465650787526e-06,
                "card_holder1": 0.002449080082743767,
                "2_of_diamonds": 0.3325038756519805,
                "card_holder2": 1.6581972401506484e-06,
                "3_of_spades": 1.6581995010155935e-06,
                "card_holder3": 1.6273651599703044e-06,
                "6_of_hearts": 1.6273673713980758e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.17720003426074982,
                0.1223082900047302,
                0.9672284561395645
              ],
              "target_euler": [
                2.586158275604248,
                0.03324831649661064,
                1.5905823707580566
              ],
              "joint_target": [
                1.0478950665029385,
                0.42072669420604053,
                -0.6275331233878784,
                -2.0160100933496863,
                -0.28759087989506305,
                2.0830345344887147,
                -4.91976479022408
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
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                0.11941497634676274,
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              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.031676731248483e-06,
                "card_holder0": 2.0253785117762987e-06,
                "10_of_spades": 2.0253777363104713e-06,
                "card_holder1": 0.002448954266587423,
                "2_of_diamonds": 0.3325045138446028,
                "card_holder2": 2.0351310409349212e-06,
                "3_of_spades": 2.035130314246115e-06,
                "card_holder3": 2.0456348587494314e-06,
                "6_of_hearts": 2.0456340414597446e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "10_of_spades"
          ],
          "alternative_entity": null,
          "original_entity": [
            "10_of_spades"
          ],
          "initial_physics_sha256": "8624c852e28beead0562dc2c07b4ac27dcf3adf778f7b8c9291e3c024f6bdbcc",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "b913d8922ec692baac7b73db6421a31ceeecc035eefc4b530f1b2dfb41d420fe",
          "observation_matches_upstream": true,
          "wall_s": 11.17524469300406,
          "ee_path_m": 1.3415505434398454,
          "joint_path_rad": 9.17810702763457,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "2_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
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          "total_wall_s": 23.693033607007237,
          "compiled_physics_parameters_sha256": "839db11ec264b6db7f6539a456567a0172bb775637919f57c3e012132fa9f4e6",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_8",
          "row": {
            "task": "select_poker",
            "seed": 50,
            "track_index": 8,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.709315723776263e-13,
                      -7.120539181289097e-13,
                      -7.789010675624339e-07
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                    "orientation": [
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                      -4.080259255360254e-09,
                      -2.6973053660541255e-09,
                      -1.6492287953422838e-17
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
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                      0.7659989981733321
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                    "orientation": [
                      0.7071067811865452,
                      -4.792452507046338e-09,
                      9.779191649668945e-10,
                      0.707106781186549
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                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19723478003669684,
                      0.09267390590971358,
                      0.8309988957072625
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                    "orientation": [
                      0.4999999992914256,
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                      0.5000000007085753,
                      0.49999999659635597
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                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06125262286530359,
                      0.18971384371089628,
                      0.7659989981150066
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                    "orientation": [
                      0.7071067811865462,
                      -4.792452506964044e-09,
                      9.779191650154976e-10,
                      0.707106781186549
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                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06125259519703843,
                      0.18971380185126765,
                      0.8309988956489393
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                    "orientation": [
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                      -0.5000000034036438,
                      0.5000000007085753,
                      0.4999999965963562
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
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                      0.013751637924165097,
                      0.7659990002197598
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                    "orientation": [
                      0.7071067811865462,
                      -4.7924525071209434e-09,
                      9.779191649255241e-10,
                      0.707106781186549
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                    "class": "CardHolder"
                  },
                  {
                    "name": "ace_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06272085809209728,
                      0.013751596064537935,
                      0.8309988977536109
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                    "orientation": [
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                      -0.5000000034036426,
                      0.5000000007085759,
                      0.49999999659635536
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                    "class": "Poker",
                    "value": "ace",
                    "suite": "spades"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 5 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "5_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 5 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "ace_of_spades": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
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          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
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              0.14567891359329221,
              0.9251813876628876
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            "target_euler": [
              3.0632736682891846,
              0.15030363202095032,
              1.5127665996551514
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            "joint_target": [
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              0.4096435614419316,
              0.5784938753583364,
              -2.1050701556403757,
              -0.38580475582981516,
              2.2591908852783944,
              -5.208377728625968
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            "gripper": [
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              0.0
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            "ee_position": [
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            "ee_path_m": 1.3383716074637009,
            "joint_path_rad": 11.071117513933263,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.425817878399711e-07,
              "card_holder0": 2.499509047925195e-07,
              "4_of_hearts": 2.4996623312684737e-07,
              "card_holder1": 0.01731215349235009,
              "5_of_hearts": 1.051169492338212,
              "card_holder2": 2.407178765271694e-07,
              "ace_of_spades": 2.407333500462599e-07
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            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
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                -0.05099852755665779,
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              "target_euler": [
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                1.701800356098488,
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              "gripper": [
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              "ee_position": [
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              "ee_path_m": 0.7046867713069541,
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              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 2.13744352777246e-18,
                "card_holder0": 3.0718538955360006e-12,
                "4_of_hearts": 4.556404974189052e-12,
                "card_holder1": 3.0074732939123516e-12,
                "5_of_hearts": 4.557150038122944e-12,
                "card_holder2": 3.045674276630199e-12,
                "ace_of_spades": 4.5508977704261115e-12
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.019897984340786934,
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              "target_euler": [
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                0.3021604308588671,
                0.40371003903644964,
                -2.2596907814073663,
                -0.5138616419122841,
                2.4020094962178384,
                -3.9921029047465804
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                0.0
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              "joint_path_rad": 7.59781930234827,
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              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.425817878400272e-07,
                "card_holder0": 2.49954551433205e-07,
                "4_of_hearts": 2.4997173872354344e-07,
                "card_holder1": 0.017312153497176522,
                "5_of_hearts": 1.051169492338212,
                "card_holder2": 2.4072158435627183e-07,
                "ace_of_spades": 2.4073888400117653e-07
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              "task_progress": 0.0,
              "intention_score": 1.0,
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            "200": {
              "step": 200,
              "substeps": 1,
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              "object_displacement_m": {
                "table": 2.425817878399711e-07,
                "card_holder0": 2.499509047925195e-07,
                "4_of_hearts": 2.4996623312684737e-07,
                "card_holder1": 0.01731215349235009,
                "5_of_hearts": 1.051169492338212,
                "card_holder2": 2.407178765271694e-07,
                "ace_of_spades": 2.407333500462599e-07
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
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          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "5_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "5_of_hearts"
          ],
          "initial_physics_sha256": "b544aacf181d7de3f95bf31e0f977939ae25e68a955f7fff2f85799af1d361f8",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "6133323293262e1914dc30dd8aa99bd30928c8aab30d81cca8759097ad4e7699",
          "observation_matches_upstream": true,
          "wall_s": 10.78236551299051,
          "ee_path_m": 1.3383716074637009,
          "joint_path_rad": 11.071117513933263,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
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          "total_wall_s": 18.90112780999334,
          "compiled_physics_parameters_sha256": "ab979cfde646a33464a5d287550dfcd2e0178b18c2351c82b11e7559780e5951",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 29,
          "id": "seed29_select_poker_9",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      5.203463978305751e-13,
                      -1.21887868662231e-12,
                      -7.789010667117315e-07
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                    "orientation": [
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                      -2.980243893441161e-09,
                      -2.765812391420025e-17
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                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.20318190056268576,
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                      0.7659989963198195
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                    "orientation": [
                      0.7071067811865474,
                      -7.0459426055636745e-09,
                      2.8312771686035696e-09,
                      0.707106781186547
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                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.20318186999214186,
                      0.17630444715375482,
                      0.8309988938538234
                    ],
                    "orientation": [
                      0.49999999796941724,
                      -0.5000000050083553,
                      0.5000000020305819,
                      0.4999999949916455
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                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
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                      0.7659989971508677
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                    "orientation": [
                      0.707106781186547,
                      -7.045942605540012e-09,
                      2.8312771686000086e-09,
                      0.7071067811865476
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                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
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                      0.17561598391950844,
                      0.8309988946848395
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                    "orientation": [
                      0.49999999796941746,
                      -0.500000005008355,
                      0.5000000020305824,
                      0.4999999949916449
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                    "class": "Poker",
                    "value": "10",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05225058275243717,
                      0.15498512451485397,
                      0.7659989981401398
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                    "orientation": [
                      0.7071067811865469,
                      -7.045942605605426e-09,
                      2.8312771685680968e-09,
                      0.7071067811865479
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                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.052250613322980255,
                      0.15498505286324626,
                      0.8309988956740733
                    ],
                    "orientation": [
                      0.4999999979694178,
                      -0.5000000050083548,
                      0.5000000020305824,
                      0.49999999499164505
                    ],
                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "6_of_spades": 0.0,
              "card_holder1": 0.0,
              "10_of_clubs": 0.0,
              "card_holder2": 0.0,
              "7_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.012541819363832474,
              0.2607222557067871,
              0.9986582535505295
            ],
            "target_euler": [
              2.355832099914551,
              -0.23119640350341797,
              0.5486277341842651
            ],
            "joint_target": [
              0.4324635955283316,
              1.0478384149042252,
              -0.6022135275384862,
              -0.918293682361556,
              -0.05893889219610761,
              1.274522623882074,
              -4.4425330274240515
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              0.0128034311744082,
              0.25807906907355677,
              0.9903420999155074
            ],
            "ee_path_m": 1.3734486682892744,
            "joint_path_rad": 10.071232126738384,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
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            "text_hash_en": "75b5e9713470f4e69872a3ed1b5542a75f7bbdc24bd791c37809b269c325dae3"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 23.421865525000612,
          "original_entity": "9_pin"
        },
        {
          "kind": "paired",
          "condition": "blank",
          "instruction": "",
          "donor_state": null,
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_155f24a574cf_blank",
          "row": {
            "condition_id": "attribute__select_mahjong|155f24a574cf|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "155f24a574cf851ddd97a2f481d6ede8bb35d72ec48cb507e73b21ea4af19535",
            "scene_seed": 11,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed11.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "9 pin",
            "alternative_surface": "5 pin",
            "requested_entity": "9_pin",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 9 pin",
            "source_text": "Pick up the mahjong of 9 pin",
            "text_hash_en": "0bcbd905fa20901fc394361f21d4d0a29e57cb6c722d51853afbe6c8e3ab38e7"
          },
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "placemat": 0.0,
              "5_pin": 0.0,
              "1_pin": 0.0,
              "6_sou": 0.0,
              "9_man": 0.0,
              "7_man": 0.0,
              "9_pin": 0.0,
              "2_sou": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": [],
            "requested_met": false,
            "alternative_met": false
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.07611440122127533,
              -0.052262419462204,
              0.9257385867834091
            ],
            "target_euler": [
              3.0809664726257324,
              -0.1551697552204132,
              2.1287295818328857
            ],
            "joint_target": [
              -0.7145926116846152,
              0.2676692598691199,
              1.1032017977878863,
              -2.4600588097853304,
              2.5181212986838797,
              3.609147033513213,
              -2.0080527406681523
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.07965240831951452,
              -0.05727081328303837,
              0.9239480227396765
            ],
            "ee_path_m": 1.354838153625173,
            "joint_path_rad": 9.92210483898147,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.0035724313013703e-06,
              "placemat": 0.00013898078784514828,
              "5_pin": 0.1607721432552433,
              "1_pin": 0.06468981430064394,
              "6_sou": 7.819606016827047e-06,
              "9_man": 1.3544468614125697e-05,
              "7_man": 1.4438708002995782e-05,
              "9_pin": 1.7769339445094136e-05,
              "2_sou": 1.7907064091251786e-05
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "5_pin"
            ],
            "requested_met": false,
            "alternative_met": false
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.14776088297367096,
                0.001949048042297341,
                0.9140157091617584
              ],
              "target_euler": [
                3.104616165161133,
                -0.2977239191532135,
                2.6972429752349854
              ],
              "joint_target": [
                -0.09149169857036804,
                0.05035447916309925,
                0.5163522771001966,
                -2.7141190079440047,
                0.815566321135434,
                2.951595211618384,
                -0.7040812766456392
              ],
              "gripper": [
                0.04,
                0.04
              ],
              "ee_position": [
                -0.14791612701148169,
                -0.002200129132586326,
                0.9158048234191454
              ],
              "ee_path_m": 0.4541285578712618,
              "joint_path_rad": 3.2073758162446957,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 4.082585764960442e-11,
                "placemat": 9.596700753303356e-08,
                "5_pin": 1.0755008240716919e-05,
                "1_pin": 9.740724999774847e-06,
                "6_sou": 6.292212396362729e-06,
                "9_man": 1.2095679613288233e-05,
                "7_man": 1.301440155149616e-05,
                "9_pin": 1.3060521182463403e-05,
                "2_sou": 1.3227505990877584e-05
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [],
              "requested_met": false,
              "alternative_met": false
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.2259860336780548,
                0.014110034704208352,
                0.7863751386478544
              ],
              "target_euler": [
                2.970956325531006,
                -0.2794504165649414,
                2.2305049896240234
              ],
              "joint_target": [
                0.39107275140571796,
                0.6605993125136391,
                0.3527604208740489,
                -2.3785733737414523,
                1.1875908904753485,
                3.552324929323417,
                -0.42047667653223864
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.2242254069453171,
                0.011581558884242185,
                0.7821826481740216
              ],
              "ee_path_m": 0.9461282411008196,
              "joint_path_rad": 6.029150662213851,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.163574067948652e-06,
                "placemat": 0.00015084795155939046,
                "5_pin": 0.05563707506695901,
                "1_pin": 0.050934527163689916,
                "6_sou": 8.303325619631368e-06,
                "9_man": 1.404775163030535e-05,
                "7_man": 1.494722213573308e-05,
                "9_pin": 1.8300061262845028e-05,
                "2_sou": 1.8437825938098916e-05
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "5_pin"
              ],
              "requested_met": false,
              "alternative_met": false
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.07611440122127533,
                -0.052262419462204,
                0.9257385867834091
              ],
              "target_euler": [
                3.0809664726257324,
                -0.1551697552204132,
                2.1287295818328857
              ],
              "joint_target": [
                -0.7145926116846152,
                0.2676692598691199,
                1.1032017977878863,
                -2.4600588097853304,
                2.5181212986838797,
                3.609147033513213,
                -2.0080527406681523
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.07965240831951452,
                -0.05727081328303837,
                0.9239480227396765
              ],
              "ee_path_m": 1.354838153625173,
              "joint_path_rad": 9.92210483898147,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.0035724313013703e-06,
                "placemat": 0.00013898078784514828,
                "5_pin": 0.1607721432552433,
                "1_pin": 0.06468981430064394,
                "6_sou": 7.819606016827047e-06,
                "9_man": 1.3544468614125697e-05,
                "7_man": 1.4438708002995782e-05,
                "9_pin": 1.7769339445094136e-05,
                "2_sou": 1.7907064091251786e-05
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "5_pin"
              ],
              "requested_met": false,
              "alternative_met": false
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_first_either_goal",
          "requested_entity": "9_pin",
          "alternative_entity": "5_pin",
          "original_entity": "9_pin",
          "initial_physics_sha256": "31b4f087866a378a816705958640adacb28192e85da2675469e846285c80ae2d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "c48c828b8d17587cd24a99ad19812df62504a35953dca4980c94209b22ed421f",
          "observation_matches_upstream": true,
          "wall_s": 15.89804978799657,
          "ee_path_m": 1.354838153625173,
          "joint_path_rad": 9.92210483898147,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "5_pin"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 25.124020739996922,
          "compiled_physics_parameters_sha256": "7632c4fd27a4942977b1ce4a3c01a430cf437df3560c99578bf5b0a0af6420b1",
          "interaction": {
            "first_candidate_grasp": "alternative",
            "first_candidate_grasp_action": 68
          }
        },
        {
          "kind": "paired",
          "condition": "shuffled",
          "instruction": "Pick up the mahjong of 9 man",
          "donor_state": "attribute__select_mahjong:302e166fd0892ad74fa03c9a5c685e02bb92bc48fe8af6d8440d299e62b6b387",
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_155f24a574cf_shuffled",
          "row": {
            "condition_id": "attribute__select_mahjong|155f24a574cf|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "155f24a574cf851ddd97a2f481d6ede8bb35d72ec48cb507e73b21ea4af19535",
            "scene_seed": 11,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed11.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "9 pin",
            "alternative_surface": "5 pin",
            "requested_entity": "9_pin",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 9 pin",
            "source_text": "Pick up the mahjong of 9 pin",
            "text_hash_en": "0bcbd905fa20901fc394361f21d4d0a29e57cb6c722d51853afbe6c8e3ab38e7"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 23.091385106992675,
          "original_entity": "9_pin"
        },
        {
          "kind": "paired",
          "condition": "trusted",
          "instruction": "Pick up the mahjong of 9 man",
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_302e166fd089_A",
          "row": {
            "condition_id": "attribute__select_mahjong|302e166fd089|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "302e166fd0892ad74fa03c9a5c685e02bb92bc48fe8af6d8440d299e62b6b387",
            "scene_seed": 0,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed0.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "9 man",
            "alternative_surface": "5 man",
            "requested_entity": "9_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 9 man",
            "source_text": "Pick up the mahjong of 9 man",
            "text_hash_en": "a6a9b94f5d1a64a540d2d064a1ee2df879ae79df2b935a7119a8aa3756492881"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 19.343396026000846,
          "original_entity": "9_man"
        },
        {
          "kind": "paired",
          "condition": "trusted",
          "instruction": "Pick up the mahjong of 5 man",
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_302e166fd089_B",
          "row": {
            "condition_id": "attribute__select_mahjong|302e166fd089|B|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "302e166fd0892ad74fa03c9a5c685e02bb92bc48fe8af6d8440d299e62b6b387",
            "scene_seed": 0,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed0.json",
            "builder_seed": null,
            "intent": "B",
            "requested_surface": "5 man",
            "alternative_surface": "9 man",
            "requested_entity": "5_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 5 man",
            "source_text": "Pick up the mahjong of 5 man",
            "text_hash_en": "315f2e5520a9997321721c609c5da3d176c27f2ac272a6d5b737a5aa9531b96c"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 22.34543490500073,
          "original_entity": "9_man"
        },
        {
          "kind": "paired",
          "condition": "blank",
          "instruction": "",
          "donor_state": null,
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_302e166fd089_blank",
          "row": {
            "condition_id": "attribute__select_mahjong|302e166fd089|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "302e166fd0892ad74fa03c9a5c685e02bb92bc48fe8af6d8440d299e62b6b387",
            "scene_seed": 0,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed0.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "9 man",
            "alternative_surface": "5 man",
            "requested_entity": "9_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 9 man",
            "source_text": "Pick up the mahjong of 9 man",
            "text_hash_en": "a6a9b94f5d1a64a540d2d064a1ee2df879ae79df2b935a7119a8aa3756492881"
          },
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
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          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
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                0.8719185590744019
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              "joint_target": [
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              "gripper": [
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              "ee_position": [
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                0.05107463625123286,
                0.9257966936005649
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              "ee_path_m": 1.1362932485390387,
              "joint_path_rad": 8.820633428657938,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 7.725867816559178e-10,
                "placemat": 4.66392749711404e-05,
                "2_sou": 9.18960238210252e-06,
                "1_man": 1.0201365683563508e-05,
                "7_man": 7.062244658111147e-06,
                "8_sou": 1.2198048343022608e-05,
                "3_pin": 1.267041464892181e-05,
                "5_man": 1.2055699445975403e-05
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [],
              "requested_met": false,
              "alternative_met": false
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.06958592683076859,
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                0.9144005316495896
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              "target_euler": [
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              "joint_target": [
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                -1.1767530832599797,
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              "gripper": [
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              "ee_position": [
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              "ee_path_m": 2.7072123847899414,
              "joint_path_rad": 21.961440674014458,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
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                "placemat": 0.00018507568495162064,
                "2_sou": 9.196412269526606e-06,
                "1_man": 1.020620952329624e-05,
                "7_man": 7.071069523798582e-06,
                "8_sou": 1.219905302972133e-05,
                "3_pin": 1.2670013514597474e-05,
                "5_man": 1.2059336438682873e-05
              },
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              "intention_score": 1.0,
              "grasped_objects": [],
              "requested_met": false,
              "alternative_met": false
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_first_either_goal",
          "requested_entity": "5_man",
          "alternative_entity": "1_man",
          "original_entity": "5_man",
          "initial_physics_sha256": "6cecdd4f18ee496de66b8f265dab0e99ea0f18f409ab6259060fe29e758007dd",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "504516e9957e54e79e19b49cd8f7cefa020707473e133031658af0a93201182f",
          "observation_matches_upstream": true,
          "wall_s": 17.149124411007506,
          "ee_path_m": 2.7072123847899414,
          "joint_path_rad": 21.961440674014458,
          "ik_nonconverged": 13,
          "ever_grasped_objects": [],
          "hold": {
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            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 27.247891524006263,
          "compiled_physics_parameters_sha256": "0a1314db7fc97890657084fd6d8c4dd63eb7deb218e735b018ec2c189756fc86",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "paired",
          "condition": "shuffled",
          "instruction": "Pick up the mahjong of 7 man",
          "donor_state": "attribute__select_mahjong:fcf31db921621aebc37bdb2e9f3d8582222dbc423cd8cfaba6ce9266299e49f8",
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_f18095052920_shuffled",
          "row": {
            "condition_id": "attribute__select_mahjong|f18095052920|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "f18095052920e2b6b8f2b17a5dc4e8ae5b0a06db0621d33093d2022fb4f77f65",
            "scene_seed": 10,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed10.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "5 man",
            "alternative_surface": "1 man",
            "requested_entity": "5_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 5 man",
            "source_text": "Pick up the mahjong of 5 man",
            "text_hash_en": "315f2e5520a9997321721c609c5da3d176c27f2ac272a6d5b737a5aa9531b96c"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 19.446603040996706,
          "original_entity": "5_man"
        },
        {
          "kind": "paired",
          "condition": "trusted",
          "instruction": "Pick up the mahjong of 7 man",
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_fcf31db92162_A",
          "row": {
            "condition_id": "attribute__select_mahjong|fcf31db92162|A|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "fcf31db921621aebc37bdb2e9f3d8582222dbc423cd8cfaba6ce9266299e49f8",
            "scene_seed": 1,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed1.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "7 man",
            "alternative_surface": "3 man",
            "requested_entity": "7_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 7 man",
            "source_text": "Pick up the mahjong of 7 man",
            "text_hash_en": "92c752bde606121cc042a44c10cc534fed6375cd97608c6df7b8d89739b9ffea"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 22.60618701900239,
          "original_entity": "7_man"
        },
        {
          "kind": "paired",
          "condition": "trusted",
          "instruction": "Pick up the mahjong of 3 man",
          "policy_seed": 47,
          "id": "seed47_attribute__select_mahjong_fcf31db92162_B",
          "row": {
            "condition_id": "attribute__select_mahjong|fcf31db92162|B|en",
            "template_id": "attribute__select_mahjong",
            "axis": "attribute",
            "family": "select_mahjong",
            "source": "native",
            "state_hash": "fcf31db921621aebc37bdb2e9f3d8582222dbc423cd8cfaba6ce9266299e49f8",
            "scene_seed": 1,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_mahjong__seed1.json",
            "builder_seed": null,
            "intent": "B",
            "requested_surface": "3 man",
            "alternative_surface": "7 man",
            "requested_entity": "3_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 3 man",
            "source_text": "Pick up the mahjong of 3 man",
            "text_hash_en": "e640dc1bc3b9141200546fa4fc6e53daa3fcc4f0f64037e273c279852578782c"
          },
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "placemat": 0.0,
              "3_man": 0.0,
              "5_pin": 0.0,
              "8_sou": 0.0,
              "7_man": 0.0,
              "1_pin": 0.0,
              "5_man": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": [],
            "requested_met": false,
            "alternative_met": false
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
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              0.3128453254699707,
              0.8490862387418747
            ],
            "target_euler": [
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              3.052520751953125
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            "joint_target": [
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              1.326406767756057,
              1.147579725960001,
              -1.4545969243166939,
              -1.4782418855906287,
              2.0196613283163076,
              0.19626435288055008
            ],
            "gripper": [
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              0.04
            ],
            "ee_position": [
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              0.3090826053615284,
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            ],
            "ee_path_m": 2.274744400041095,
            "joint_path_rad": 22.5811625927961,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 6.432897851124937e-06,
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              "3_man": 0.07642019497485489,
              "5_pin": 0.10815403982066683,
              "8_sou": 0.001599742833175922,
              "7_man": 1.519105664920256e-05,
              "1_pin": 1.53402935196895e-05,
              "5_man": 1.52417346257773e-05
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [],
            "requested_met": false,
            "alternative_met": false
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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            "100": {
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          "boundary_rule": "live_first_either_goal",
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        {
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          "instruction": "",
          "donor_state": null,
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            "builder_seed": null,
            "intent": "A",
            "requested_surface": "7 man",
            "alternative_surface": "3 man",
            "requested_entity": "7_man",
            "language": "en",
            "source_text_en": "Pick up the mahjong of 7 man",
            "source_text": "Pick up the mahjong of 7 man",
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          "final": {
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            "substeps": 1,
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          "boundary_rule": "live_first_either_goal",
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        {
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          "condition": "shuffled",
          "instruction": "Please take the book steve jobs",
          "donor_state": "object__select_book:6eca3d0b773d76d2542a7e4b5c3ff42507e87e4c1bc210a3e1478ef45f7beafd",
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          "id": "seed47_object__select_book_386584795068_shuffled",
          "row": {
            "condition_id": "object__select_book|386584795068|A|en",
            "template_id": "object__select_book",
            "axis": "object",
            "family": "select_book",
            "source": "native",
            "state_hash": "386584795068bf324022616f1914f17e0e36947319f3e347355d956e4b69bf9d",
            "scene_seed": 10,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_book__seed10.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "foundamentals of molecular biology",
            "alternative_surface": "scholars of contract law",
            "requested_entity": "foundamentals_of_molecular_biology",
            "language": "en",
            "source_text_en": "Please take the book foundamentals of molecular biology",
            "source_text": "Please take the book foundamentals of molecular biology",
            "text_hash_en": "034db43df6893fd5874c50967bbace832bd7ff86d7f9677f272ba50843dee860"
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          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
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          "original_entity": "foundamentals_of_molecular_biology"
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            "scene_seed": 2,
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            "builder_seed": null,
            "intent": "A",
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            "alternative_surface": "critical infrastructure protection in homeland security",
            "requested_entity": "steve_jobs",
            "language": "en",
            "source_text_en": "Please take the book steve jobs",
            "source_text": "Please take the book steve jobs",
            "text_hash_en": "c6c52b5a8a399921869748f9eb742bc86c60f448b48c49b631429ed8efa80f8e"
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            "first_candidate_grasp_action": 47
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        {
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          "condition": "trusted",
          "instruction": "Please take the book contract law in japan",
          "policy_seed": 47,
          "id": "seed47_object__select_book_d758a4f53883_A",
          "row": {
            "condition_id": "object__select_book|d758a4f53883|A|en",
            "template_id": "object__select_book",
            "axis": "object",
            "family": "select_book",
            "source": "native",
            "state_hash": "d758a4f538835e922896b4f43ee1a9f0505fb3faf4ea5f2137736ee24f18aa4a",
            "scene_seed": 1,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_book__seed1.json",
            "builder_seed": null,
            "intent": "A",
            "requested_surface": "contract law in japan",
            "alternative_surface": "scholars of contract law",
            "requested_entity": "contract_law_in_japan",
            "language": "en",
            "source_text_en": "Please take the book contract law in japan",
            "source_text": "Please take the book contract law in japan",
            "text_hash_en": "533bd80f58f284060529a4ebe16641d5c8846be615d068e2eeda2317aaef915b"
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 14.868659347994253,
          "original_entity": "contract_law_in_japan"
        },
        {
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          "condition": "trusted",
          "instruction": "Please take the book scholars of contract law",
          "policy_seed": 47,
          "id": "seed47_object__select_book_d758a4f53883_B",
          "row": {
            "condition_id": "object__select_book|d758a4f53883|B|en",
            "template_id": "object__select_book",
            "axis": "object",
            "family": "select_book",
            "source": "native",
            "state_hash": "d758a4f538835e922896b4f43ee1a9f0505fb3faf4ea5f2137736ee24f18aa4a",
            "scene_seed": 1,
            "scene_file": "/raid/nurgaly/multimodal_robotics/e2a/scenes/select_book__seed1.json",
            "builder_seed": null,
            "intent": "B",
            "requested_surface": "scholars of contract law",
            "alternative_surface": "contract law in japan",
            "requested_entity": "scholars_of_contract_law",
            "language": "en",
            "source_text_en": "Please take the book scholars of contract law",
            "source_text": "Please take the book scholars of contract law",
            "text_hash_en": "c99cb9aade275fd3e059fd322757862d91402b40c695cb93f0f1028b04590d6a"
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            "ik_converged": true,
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              "object_displacement_m": {
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                "placemat": 2.705009596435522e-07,
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                "2_sou": 1.716890196654799e-05
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              "intention_score": 1.0,
              "grasped_objects": [
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          "steps": 72,
          "simulator_steps": 72,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "alternative_entity": null,
          "original_entity": [
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          "initial_physics_sha256": "26e0bd04c6d8a9be1d71c9c3c3801c234f6ab64addd2012a7c567d9cca55c3f8",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
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          "observation_matches_upstream": true,
          "wall_s": 6.3020098900015,
          "ee_path_m": 0.6485588410296748,
          "joint_path_rad": 3.9484681633228043,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
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          "hold": {
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            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 18.915306426002644,
          "compiled_physics_parameters_sha256": "1bcf65ec67b722eecdec4ca1392724cc847ccd04f6f515c97451482d117cc0bd",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 59
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_mahjong_1",
          "row": {
            "task": "select_mahjong",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -5.142914438110198e-11,
                      -1.2525848561045731e-10,
                      -3.922846993860248e-07
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                    "orientation": [
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                      -4.781848270645146e-09,
                      4.48183156175539e-09,
                      -1.500034035916391e-11
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "placemat",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/tablewares/placemats/placemat_5/placemat_5.xml",
                    "position": [
                      0.20670602523215917,
                      0.24415334507624317,
                      0.7620410202522256
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                    "orientation": [
                      0.9996258832175609,
                      0.005390639136111119,
                      0.00020851699635513038,
                      -0.02681400999249093
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                    "class": "PlaceMat"
                  },
                  {
                    "name": "9_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.13737233514666666,
                      -0.013455712649124924,
                      0.8050087449484735
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                    "orientation": [
                      1.0569040702181071e-06,
                      -0.00015993486835268785,
                      0.0007963303403717658,
                      0.9999996701388004
                    ],
                    "class": "Mahjong",
                    "value": "9",
                    "suite": "pin"
                  },
                  {
                    "name": "3_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.06737619527459479,
                      -0.013455703734591186,
                      0.8050071104388299
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                    "orientation": [
                      1.1548266783738818e-06,
                      -0.00020253232525529845,
                      0.0007963765285680996,
                      0.9999996623818164
                    ],
                    "class": "Mahjong",
                    "value": "3",
                    "suite": "man"
                  },
                  {
                    "name": "8_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.0026274899194311855,
                      -0.013455715953572544,
                      0.8050086712852211
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                    "orientation": [
                      1.0016605520692584e-06,
                      -0.0001617620717432738,
                      0.0007962970904095518,
                      0.9999996698714322
                    ],
                    "class": "Mahjong",
                    "value": "8",
                    "suite": "sou"
                  },
                  {
                    "name": "2_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.07262361385602693,
                      -0.013455704378511719,
                      0.8050070278913144
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                    "orientation": [
                      1.1002585885595423e-06,
                      -0.00020464389086952183,
                      0.0007963278381282303,
                      0.999999661990763
                    ],
                    "class": "Mahjong",
                    "value": "2",
                    "suite": "sou"
                  },
                  {
                    "name": "5_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.1426278437477842,
                      -0.013455709572099576,
                      0.8050088220936302
                    ],
                    "orientation": [
                      1.0353849618335383e-06,
                      -0.0001578119143722936,
                      0.0007963476953433499,
                      0.9999996704622837
                    ],
                    "class": "Mahjong",
                    "value": "5",
                    "suite": "pin"
                  },
                  {
                    "name": "1_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.21262793779407507,
                      -0.013455719653270271,
                      0.8050088655538785
                    ],
                    "orientation": [
                      1.0688798179255984e-06,
                      -0.00015665317424265674,
                      0.0007963140702173055,
                      0.999999670671217
                    ],
                    "class": "Mahjong",
                    "value": "1",
                    "suite": "pin"
                  },
                  {
                    "name": "4_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.28262837896647663,
                      -0.013455712093738933,
                      0.8050090498914205
                    ],
                    "orientation": [
                      1.0647202367400913e-06,
                      -0.00015185198898578318,
                      0.0007963388245872233,
                      0.9999996713921038
                    ],
                    "class": "Mahjong",
                    "value": "4",
                    "suite": "sou"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Pick up the mahjong of 1 pin"
                ],
                "conditions": {
                  "contain": {
                    "entities": [
                      "1_pin"
                    ],
                    "container": "placemat"
                  }
                },
                "target_entity": [
                  "1_pin"
                ],
                "target_container": "placemat"
              }
            }
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 22.033209889996215,
          "original_entity": [
            "1_pin"
          ]
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_mahjong_2",
          "row": {
            "task": "select_mahjong",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      1.0883465227234923e-10,
                      -5.4374685339677426e-11,
                      -3.946410563668439e-07
                    ],
                    "orientation": [
                      1.0,
                      -7.089792202268192e-09,
                      -1.0164743032784485e-09,
                      -9.594356214565135e-12
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "placemat",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/tablewares/placemats/placemat_3/placemat_3.xml",
                    "position": [
                      -0.02779585142198596,
                      0.2903213631459474,
                      0.7643769463968664
                    ],
                    "orientation": [
                      0.9999844401327682,
                      0.0014133807132287297,
                      -0.00023160288371040018,
                      0.00539149398747106
                    ],
                    "class": "PlaceMat"
                  },
                  {
                    "name": "1_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.2577406642417122,
                      -0.01477907990695879,
                      0.8050087469643487
                    ],
                    "orientation": [
                      1.0911238413738482e-06,
                      -0.00015979449897452177,
                      0.0007963723126325238,
                      0.9999996701277797
                    ],
                    "class": "Mahjong",
                    "value": "1",
                    "suite": "man"
                  },
                  {
                    "name": "7_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.18774079670317964,
                      -0.014779085648472225,
                      0.8050086951398462
                    ],
                    "orientation": [
                      1.1459690488390578e-06,
                      -0.00016114806495436167,
                      0.0007963704042733895,
                      0.9999996699120287
                    ],
                    "class": "Mahjong",
                    "value": "7",
                    "suite": "pin"
                  },
                  {
                    "name": "7_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.11774072745108013,
                      -0.014779091596691683,
                      0.8050087357627147
                    ],
                    "orientation": [
                      1.005926780740607e-06,
                      -0.00016009498464353248,
                      0.0007963687274126595,
                      0.9999996700826631
                    ],
                    "class": "Mahjong",
                    "value": "7",
                    "suite": "man"
                  },
                  {
                    "name": "5_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.04774451236653224,
                      -0.01477901765858598,
                      0.805007113277111
                    ],
                    "orientation": [
                      6.873465792570983e-07,
                      -0.00020238652309532894,
                      0.0007963781028482808,
                      0.9999996624105125
                    ],
                    "class": "Mahjong",
                    "value": "5",
                    "suite": "pin"
                  },
                  {
                    "name": "5_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.02226265388763737,
                      -0.014779066112898928,
                      0.8050101698149408
                    ],
                    "orientation": [
                      9.269770065293546e-07,
                      -0.0001227203509890655,
                      0.0007963406140753287,
                      0.9999996753901881
                    ],
                    "class": "Mahjong",
                    "value": "5",
                    "suite": "man"
                  },
                  {
                    "name": "1_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.09225935225759048,
                      -0.014779075484842709,
                      0.8050087502459858
                    ],
                    "orientation": [
                      1.0790671126466727e-06,
                      -0.00015972565359090635,
                      0.0007963719058889728,
                      0.999999670139115
                    ],
                    "class": "Mahjong",
                    "value": "1",
                    "suite": "pin"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Pick up the mahjong of 1 pin"
                ],
                "conditions": {
                  "contain": {
                    "entities": [
                      "1_pin"
                    ],
                    "container": "placemat"
                  }
                },
                "target_entity": [
                  "1_pin"
                ],
                "target_container": "placemat"
              }
            }
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 13.531230245003826,
          "original_entity": [
            "1_pin"
          ]
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_mahjong_3",
          "row": {
            "task": "select_mahjong",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
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                      -2.4764302012419056e-11,
                      -3.80777031163587e-07
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                      -2.7315946394436793e-10,
                      -5.530586928131745e-10,
                      5.774078838496691e-12
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "placemat",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/tablewares/placemats/placemat_4/placemat_4.xml",
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                    "class": "PlaceMat"
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                  {
                    "name": "8_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.26938848961962925,
                      -0.05570962058425605,
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                    "orientation": [
                      1.0977987507976577e-06,
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                      0.0007963699960015854,
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                    "class": "Mahjong",
                    "value": "8",
                    "suite": "sou"
                  },
                  {
                    "name": "3_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                  {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
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                    "class": "Mahjong",
                    "value": "7",
                    "suite": "pin"
                  },
                  {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
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                    "suite": "pin"
                  },
                  {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
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                  {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
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                ],
                "scene": {
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                  "position": [
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                  "orientation": [
                    1.0,
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                  "floor_textures": [
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                },
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                ],
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                  "contain": {
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                    "container": "placemat"
                  }
                },
                "target_entity": [
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                "target_container": "placemat"
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            "persistent_requested_only": false,
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        {
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          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_mahjong_5",
          "row": {
            "task": "select_mahjong",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
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                      2.93167542512178e-12
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                    "class": "Table",
                    "materials": [
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                  },
                  {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/tablewares/placemats/placemat_3/placemat_3.xml",
                    "position": [
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                    "class": "PlaceMat"
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                  {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    "orientation": [
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                    "class": "Mahjong",
                    "value": "3",
                    "suite": "man"
                  },
                  {
                    "name": "1_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    "class": "Mahjong",
                    "value": "1",
                    "suite": "man"
                  },
                  {
                    "name": "7_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
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                    "value": "7",
                    "suite": "man"
                  },
                  {
                    "name": "6_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    "class": "Mahjong",
                    "value": "6",
                    "suite": "sou"
                  },
                  {
                    "name": "9_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                      -0.06790735973764088,
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                    "orientation": [
                      1.000490180533313e-06,
                      -0.00016198041083519084,
                      0.0007963082309123752,
                      0.9999996698272186
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                    "class": "Mahjong",
                    "value": "9",
                    "suite": "pin"
                  },
                  {
                    "name": "1_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                      -0.06790734758583021,
                      0.8050070892156402
                    ],
                    "orientation": [
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                      0.0007963447237575353,
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                    ],
                    "class": "Mahjong",
                    "value": "1",
                    "suite": "pin"
                  },
                  {
                    "name": "3_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      0.15872679680984714,
                      -0.06790735759480258,
                      0.8050088262224979
                    ],
                    "orientation": [
                      1.069023616275326e-06,
                      -0.0001576983737376503,
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                      0.9999996704971129
                    ],
                    "class": "Mahjong",
                    "value": "3",
                    "suite": "pin"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Pick up the mahjong of 1 pin"
                ],
                "conditions": {
                  "contain": {
                    "entities": [
                      "1_pin"
                    ],
                    "container": "placemat"
                  }
                },
                "target_entity": [
                  "1_pin"
                ],
                "target_container": "placemat"
              }
            }
          },
          "error": "PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC",
          "traceback": "Traceback (most recent call last):\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 317, in main\n    rec.update(rollout(env,policy,args,episode_dir,instruction,scoring,job['policy_seed']))\n  File \"/home/nurgaly/experiment/robotics/experiments/revision/live_validation.py\", line 183, in rollout\n    ts = env.step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/envs/dm_env.py\", line 41, in step\n    return super().step(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 421, in step\n    self._substep(action)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/composer/environment.py\", line 462, in _substep\n    self._physics.step()\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 172, in step\n    with self.check_invalid_state():\n  File \"/usr/lib/python3.10/contextlib.py\", line 142, in __exit__\n    next(self.gen)\n  File \"/raid/nurgaly/multimodal_robotics/e2a/envs/vlabench/lib/python3.10/site-packages/dm_control/mujoco/engine.py\", line 344, in check_invalid_state\n    raise _control.PhysicsError(message)\ndm_control.rl.control.PhysicsError: Physics state is invalid. Warning(s) raised: mjWARN_BADQACC\n",
          "total_wall_s": 11.456707463003113,
          "original_entity": [
            "1_pin"
          ]
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_mahjong_6",
          "row": {
            "task": "select_mahjong",
            "seed": 48,
            "track_index": 6,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -2.8163896611385162e-11,
                      1.4717706264748263e-10,
                      -3.9465424470337763e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.391395850862989e-09,
                      -2.7926531533432833e-09,
                      8.26277859669751e-12
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "placemat",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/tablewares/placemats/placemat_3/placemat_3.xml",
                    "position": [
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                      0.27300789632300215,
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                    ],
                    "orientation": [
                      0.9995072239103848,
                      0.0023096638046606268,
                      -0.00018514570451743926,
                      -0.031304001743134406
                    ],
                    "class": "PlaceMat"
                  },
                  {
                    "name": "5_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
                      -0.2717781659925867,
                      -0.0816906908801763,
                      0.8050086874654255
                    ],
                    "orientation": [
                      1.1246742499304056e-06,
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                      0.0007963762121721829,
                      0.9999996698746316
                    ],
                    "class": "Mahjong",
                    "value": "5",
                    "suite": "man"
                  },
                  {
                    "name": "1_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    ],
                    "orientation": [
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                    ],
                    "class": "Mahjong",
                    "value": "1",
                    "suite": "pin"
                  },
                  {
                    "name": "9_man",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    ],
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                      0.999999659792764
                    ],
                    "class": "Mahjong",
                    "value": "9",
                    "suite": "man"
                  },
                  {
                    "name": "6_sou",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    ],
                    "orientation": [
                      9.388206836198159e-07,
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                      0.0007963646343852384,
                      0.9999996699858139
                    ],
                    "class": "Mahjong",
                    "value": "6",
                    "suite": "sou"
                  },
                  {
                    "name": "9_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                      0.9999996701477232
                    ],
                    "class": "Mahjong",
                    "value": "9",
                    "suite": "pin"
                  },
                  {
                    "name": "3_pin",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/mahjong/mahjong.xml",
                    "position": [
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                    "orientation": [
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                0.9098948637793093,
                -1.89946456915291,
                -0.7026037768416751,
                2.0165859949066323,
                -5.12874702450061
              ],
              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                0.17023186768947313,
                0.14914138474170943,
                0.9076383249316957
              ],
              "ee_path_m": 1.4566563133037618,
              "joint_path_rad": 10.717622547239905,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.0670655320911827e-07,
                "card_holder0": 2.019847557125542e-07,
                "king_of_clubs": 2.0201250585686417e-07,
                "card_holder1": 2.0574487028920442e-07,
                "ace_of_hearts": 2.057737252976384e-07,
                "card_holder2": 0.020534885813895423,
                "jack_of_hearts": 0.046556719507384166,
                "card_holder3": 2.089345011542258e-07,
                "9_of_spades": 0.07391745468597646
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "ace_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "ace_of_hearts"
          ],
          "initial_physics_sha256": "339b19645ae708790791e552f644cbde01605e01ef97b9e0466fb54e33252e9d",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "ebb5c56987e2a62b0285dda51f4268891be45b80efbd020b6a33d7aa63717eaf",
          "observation_matches_upstream": true,
          "wall_s": 11.36716717100353,
          "ee_path_m": 1.4566563133037618,
          "joint_path_rad": 10.717622547239905,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "card_holder2",
            "jack_of_hearts"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 20.203348357012146,
          "compiled_physics_parameters_sha256": "5d20cb7a3fae28203061b1aa2b6177edd35c7677352795ea2a558653616616c9",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_1",
          "row": {
            "task": "select_poker",
            "seed": 43,
            "track_index": 1,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -8.966142902813692e-15,
                      -1.2332859642485835e-12,
                      -7.872541649825789e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.2023929677799605e-09,
                      4.516085765456397e-11,
                      1.3470521785538065e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.1833903621740975,
                      0.1892740131511156,
                      0.765998989309076
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259090152e-09,
                      4.4176978124116555e-09,
                      0.7071067811865461
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18339036263735997,
                      0.18927394952249763,
                      0.8309988868433503
                    ],
                    "orientation": [
                      0.49999999685195073,
                      -0.5000000031029258,
                      0.5000000031480504,
                      0.4999999968970729
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.0608359822106072,
                      0.11304565431153674,
                      0.7659989902436128
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259047346e-09,
                      4.417697812495295e-09,
                      0.7071067811865464
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                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06083598267386951,
                      0.11304559068291985,
                      0.830998887777851
                    ],
                    "orientation": [
                      0.49999999685194974,
                      -0.500000003102927,
                      0.5000000031480496,
                      0.4999999968970738
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0741595643643782,
                      0.056578099278987666,
                      0.7659989909318947
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.353831259164623e-09,
                      4.417697812427819e-09,
                      0.7071067811865454
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07415956390111549,
                      0.05657803565037027,
                      0.8309988884661065
                    ],
                    "orientation": [
                      0.4999999968519501,
                      -0.5000000031029264,
                      0.5000000031480499,
                      0.4999999968970734
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.17334448768784513,
                      0.091263319360156,
                      0.765998990492669
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -4.3538312591097935e-09,
                      4.41769781238297e-09,
                      0.7071067811865466
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.1733444872245828,
                      0.09126325573153812,
                      0.8309988880268976
                    ],
                    "orientation": [
                      0.49999999685195057,
                      -0.5000000031029265,
                      0.5000000031480504,
                      0.4999999968970733
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 8 of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "8_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "8_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 8 of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "2_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "8_of_clubs": 0.0,
              "card_holder3": 0.0,
              "queen_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.14308825135231018,
              0.20275667905807493,
              0.8989663037657738
            ],
            "target_euler": [
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              0.11374635249376297,
              1.7932411432266235
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              0.5222816674177773,
              -0.023861110366440817,
              -1.9436758743536837,
              -0.4668217251906105,
              2.424076004906981,
              -5.557641351974467
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            "gripper": [
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              0.0
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              0.19835511282332238,
              0.8906834745487009
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            "ee_path_m": 1.4481500965755276,
            "joint_path_rad": 10.208352701532197,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 9.439269122701535e-07,
              "card_holder0": 9.45302974521226e-07,
              "2_of_hearts": 9.453084391315345e-07,
              "card_holder1": 9.57481742935571e-07,
              "5_of_hearts": 9.574875986418655e-07,
              "card_holder2": 4.856981900324846e-06,
              "8_of_clubs": 0.17964878775624343,
              "card_holder3": 1.0365144223235958e-06,
              "queen_of_diamonds": 0.08385102218836972
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            "task_progress": 0.3333333333333333,
            "intention_score": 1.0,
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          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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              "target_position_world": [
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                0.1862348675727844,
                0.855840100646019
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              "target_euler": [
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                0.08455710858106613
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              "joint_target": [
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                0.8053118039636753,
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                -1.5716486685741666,
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              "gripper": [
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              "ee_position": [
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                0.8425436092724088
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              "ee_path_m": 0.8879495247734094,
              "joint_path_rad": 5.497312283342636,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.0298597850622952e-06,
                "card_holder0": 1.0809729141118608e-06,
                "2_of_hearts": 1.0809740660286166e-06,
                "card_holder1": 1.0675779075454428e-06,
                "5_of_hearts": 1.0675791873988578e-06,
                "card_holder2": 4.685167397591074e-06,
                "8_of_clubs": 0.16707370998145263,
                "card_holder3": 1.1064573065358884e-06,
                "queen_of_diamonds": 0.08374297721345669
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                0.11653947085142136,
                0.18654695749282835,
                0.9767253983020783
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              "target_euler": [
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                0.3238629996776581
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              "joint_target": [
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                0.6823998863935639,
                -0.33571180756993,
                -1.4786920031398534,
                -0.18761406523262836,
                1.5609082499147862,
                -4.290434460585004
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.18312581697364524,
                0.9695977722271693
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              "ee_path_m": 1.0315714038785542,
              "joint_path_rad": 6.161608399701961,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.029885484813602e-06,
                "card_holder0": 1.0810011896063872e-06,
                "2_of_hearts": 1.0810023921298818e-06,
                "card_holder1": 1.0676047175014185e-06,
                "5_of_hearts": 1.0676061330218857e-06,
                "card_holder2": 4.6851428135797005e-06,
                "8_of_clubs": 0.16707370995908524,
                "card_holder3": 1.1106089517646249e-06,
                "queen_of_diamonds": 0.08377088905679811
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
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            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
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              "target_euler": [
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              "joint_target": [
                -0.16009387325083493,
                0.5222816674177773,
                -0.023861110366440817,
                -1.9436758743536837,
                -0.4668217251906105,
                2.424076004906981,
                -5.557641351974467
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              "gripper": [
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              "ee_position": [
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                0.8906834745487009
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              "ee_path_m": 1.4481500965755276,
              "joint_path_rad": 10.208352701532197,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 9.439269122701535e-07,
                "card_holder0": 9.45302974521226e-07,
                "2_of_hearts": 9.453084391315345e-07,
                "card_holder1": 9.57481742935571e-07,
                "5_of_hearts": 9.574875986418655e-07,
                "card_holder2": 4.856981900324846e-06,
                "8_of_clubs": 0.17964878775624343,
                "card_holder3": 1.0365144223235958e-06,
                "queen_of_diamonds": 0.08385102218836972
              },
              "task_progress": 0.3333333333333333,
              "intention_score": 1.0,
              "grasped_objects": []
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "8_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "8_of_clubs"
          ],
          "initial_physics_sha256": "401a81724d79cf7b156be5ffb1bc121d198cf65c6c388df20bb9d259b22be413",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "66c62b893f83d4cf8056ac2f071455efa009995ce44326a8720a03d87086ff19",
          "observation_matches_upstream": true,
          "wall_s": 11.144296038008179,
          "ee_path_m": 1.4481500965755276,
          "joint_path_rad": 10.208352701532197,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "8_of_clubs"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 20.03411321400199,
          "compiled_physics_parameters_sha256": "b25b2bbb0bd43d7917183652c55d497be226c1996da24957c2e635a5a9e9587d",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 171
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_2",
          "row": {
            "task": "select_poker",
            "seed": 44,
            "track_index": 2,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      1.2453404370727793e-13,
                      -7.412892325855532e-13,
                      -7.872541655946741e-07
                    ],
                    "orientation": [
                      1.0,
                      -3.728310467759129e-09,
                      -6.260660722252706e-10,
                      -4.265552169405024e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.2205967619815587,
                      0.024583897840483655,
                      0.7659989911809051
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116655678967e-09,
                      2.19362807607307e-09,
                      0.7071067811865467
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22059675555973354,
                      0.024583859592760073,
                      0.8309988887151056
                    ],
                    "orientation": [
                      0.4999999984340172,
                      -0.5000000021915298,
                      0.5000000015659848,
                      0.4999999978084684
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06211185324907401,
                      0.07745700588295698,
                      0.7659989909850923
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116657008755e-09,
                      2.1936280760673635e-09,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06211184682724876,
                      0.0774569676352338,
                      0.8309988885193005
                    ],
                    "orientation": [
                      0.4999999984340156,
                      -0.5000000021915315,
                      0.5000000015659833,
                      0.4999999978084698
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0633687424154539,
                      0.023341998300958226,
                      0.7659989915457316
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.079011665669035e-09,
                      2.1936280759991955e-09,
                      0.707106781186547
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "8_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06336874883727882,
                      0.023341960053234773,
                      0.8309988890799179
                    ],
                    "orientation": [
                      0.49999999843401627,
                      -0.5000000021915308,
                      0.5000000015659838,
                      0.49999999780846943
                    ],
                    "class": "Poker",
                    "value": "8",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.1739008663808682,
                      0.14521270026197677,
                      0.7659989907753807
                    ],
                    "orientation": [
                      0.7071067811865476,
                      -3.0790116656240354e-09,
                      2.193628076042048e-09,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.17390087280269334,
                      0.1452126620142527,
                      0.830998888309597
                    ],
                    "orientation": [
                      0.49999999843401594,
                      -0.5000000021915313,
                      0.5000000015659833,
                      0.4999999978084701
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 4 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "4_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "4_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "4_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 4 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_diamonds": 0.0,
              "card_holder1": 0.0,
              "9_of_spades": 0.0,
              "card_holder2": 0.0,
              "8_of_hearts": 0.0,
              "card_holder3": 0.0,
              "4_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.20618565380573273,
              0.04660452008247373,
              0.9743207979202271
            ],
            "target_euler": [
              2.7893407344818115,
              -0.08444029837846756,
              0.15278954803943634
            ],
            "joint_target": [
              0.2609468299842505,
              0.22178899842306476,
              0.17168476949476197,
              -2.1311608635493604,
              -0.01935189817389256,
              1.9883050758954783,
              -3.619088361465799
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            "gripper": [
              0.0,
              0.0
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            "ee_position": [
              -0.20478849082942494,
              0.04323952441895412,
              0.968861928058864
            ],
            "ee_path_m": 0.7422316389041784,
            "joint_path_rad": 4.55208406728562,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 2.5312177464576746e-06,
              "card_holder0": 0.000454583670782589,
              "4_of_diamonds": 0.12427815878125838,
              "card_holder1": 2.579141708801744e-06,
              "9_of_spades": 2.5791398307907085e-06,
              "card_holder2": 2.4675841474027837e-06,
              "8_of_hearts": 2.4675822695220085e-06,
              "card_holder3": 2.3462870727721823e-06,
              "4_of_hearts": 2.346285168233589e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "4_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.23252198100090027,
                0.030586397647857644,
                0.8276493015885353
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              "target_euler": [
                2.987867832183838,
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              "joint_target": [
                0.34141748396155785,
                0.45850010730374746,
                0.143990556304382,
                -2.2825569837790107,
                -0.1500118302337143,
                2.5484209280575185,
                -3.318507884685092
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              "gripper": [
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              "ee_position": [
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              "ee_path_m": 0.5337252202914728,
              "joint_path_rad": 3.0253915369605813,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.456244811518117e-06,
                "card_holder0": 0.0001849653333883796,
                "4_of_diamonds": 0.01678837783046705,
                "card_holder1": 1.55299436872324e-06,
                "9_of_spades": 1.5587113692063178e-06,
                "card_holder2": 1.4905948066461224e-06,
                "8_of_hearts": 1.4962592459372956e-06,
                "card_holder3": 1.4208303074154777e-06,
                "4_of_hearts": 1.426600875848429e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.22876086831092834,
                0.03941184878349302,
                0.9394909876585007
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              "target_euler": [
                3.034044027328491,
                -0.0985342487692833,
                0.023792123422026634
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              "joint_target": [
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                0.19154444188702194,
                0.17302738972381573,
                -2.310310049622691,
                -0.10232348906599917,
                2.3559656818932324,
                -3.380761332660794
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              "gripper": [
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                0.03604491734961178,
                0.9343953717263299
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              "ee_path_m": 0.6500535857796961,
              "joint_path_rad": 3.6820829667015045,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 2.5312177465050267e-06,
                "card_holder0": 0.0004545836739153203,
                "4_of_diamonds": 0.08551682039320975,
                "card_holder1": 2.579145643062519e-06,
                "9_of_spades": 2.579145702864149e-06,
                "card_holder2": 2.4675880941116225e-06,
                "8_of_hearts": 2.4675881402440082e-06,
                "card_holder3": 2.346290996897297e-06,
                "4_of_hearts": 2.3462910791469456e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_diamonds"
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            },
            "200": {
              "step": 200,
              "substeps": 1,
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              "target_euler": [
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              "joint_target": [
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                1.9883050758954783,
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              "gripper": [
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              "ee_path_m": 0.7422316389041784,
              "joint_path_rad": 4.55208406728562,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 2.5312177464576746e-06,
                "card_holder0": 0.000454583670782589,
                "4_of_diamonds": 0.12427815878125838,
                "card_holder1": 2.579141708801744e-06,
                "9_of_spades": 2.5791398307907085e-06,
                "card_holder2": 2.4675841474027837e-06,
                "8_of_hearts": 2.4675822695220085e-06,
                "card_holder3": 2.3462870727721823e-06,
                "4_of_hearts": 2.346285168233589e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "4_of_diamonds"
              ]
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "4_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "4_of_hearts"
          ],
          "initial_physics_sha256": "2a0421213e0694417da367d315846ffdaee6de5045efc4ed613511b74d7dca8a",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "a386fb575532a7ae7970eb44edd0bb4b5b745214dae709c2110e6dda8a5c92d9",
          "observation_matches_upstream": true,
          "wall_s": 11.18487535600434,
          "ee_path_m": 0.7422316389041784,
          "joint_path_rad": 4.55208406728562,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "4_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 23.858188668004004,
          "compiled_physics_parameters_sha256": "34b571b23be28cd49fc75986e790eee4e1155e2a1b603028e18f90eaacbcc72a",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_3",
          "row": {
            "task": "select_poker",
            "seed": 45,
            "track_index": 3,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      3.789724152025814e-13,
                      -7.666613412025772e-13,
                      -7.789010675591938e-07
                    ],
                    "orientation": [
                      1.0,
                      -4.393147707564248e-09,
                      -2.1707242623472702e-09,
                      -1.2414525400636481e-17
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.15881052151824457,
                      0.1194440192388725,
                      0.7659989982546671
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.641352680417562e-09,
                      1.5715111343539685e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "7_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.15881049925149912,
                      0.11944397416928333,
                      0.8309988957885945
                    ],
                    "orientation": [
                      0.49999999887068247,
                      -0.5000000032982417,
                      0.5000000011293158,
                      0.49999999670176
                    ],
                    "class": "Poker",
                    "value": "7",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.07369463407369549,
                      0.05716001839115409,
                      0.7659989991714484
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                    "orientation": [
                      0.7071067811865476,
                      -4.641352680326007e-09,
                      1.5715111344216344e-09,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.07369461180695033,
                      0.05715997332156493,
                      0.8309988967053403
                    ],
                    "orientation": [
                      0.49999999887068275,
                      -0.5000000032982413,
                      0.5000000011293161,
                      0.4999999967017596
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.0749570679408933,
                      0.14224438865918912,
                      0.7659989990692347
                    ],
                    "orientation": [
                      0.7071067811865464,
                      -4.6413526803883e-09,
                      1.571511134413264e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.07495709020763787,
                      0.1422443435896006,
                      0.8309988966031306
                    ],
                    "orientation": [
                      0.4999999988706842,
                      -0.5000000032982398,
                      0.5000000011293173,
                      0.4999999967017582
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 7 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "7_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "7_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 7 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "7_of_hearts": 0.0,
              "card_holder1": 0.0,
              "3_of_hearts": 0.0,
              "card_holder2": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
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              0.08981085419654844,
              0.9952347713708878
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            "target_euler": [
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            "joint_target": [
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              -1.990800895632455,
              0.0015872152091992396,
              1.7825376873749834,
              -3.8746504586800525
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            "gripper": [
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            "ee_position": [
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            "ee_path_m": 0.7260343286608343,
            "joint_path_rad": 4.9386491299683,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.4906090144023735e-06,
              "card_holder0": 1.514030302278543e-06,
              "7_of_hearts": 1.5140263647697083e-06,
              "card_holder1": 0.00016078042680186424,
              "3_of_hearts": 0.1425388423535816,
              "card_holder2": 1.4710252713843502e-06,
              "jack_of_diamonds": 1.4710211821445184e-06
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            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "3_of_hearts"
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          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
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                -0.08931705355644226,
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              "target_euler": [
                3.184042453765869,
                -0.09105373173952103,
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              "joint_target": [
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                0.3772229670929086,
                -0.13236670134218717,
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              "gripper": [
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              "ee_position": [
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              "ee_path_m": 0.4944497592422454,
              "joint_path_rad": 3.0591326137360224,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 1.353473931014082e-06,
                "card_holder0": 1.4005080476140386e-06,
                "7_of_hearts": 1.4027474010655655e-06,
                "card_holder1": 0.00014748583149609964,
                "3_of_hearts": 0.013840133655489063,
                "card_holder2": 1.3618083904759783e-06,
                "jack_of_diamonds": 1.3640451829759668e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "3_of_hearts"
              ]
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
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                0.06166190505027769,
                0.9484493124485016
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              "target_euler": [
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              "joint_target": [
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                -0.10686280447850735,
                -2.4565515142599614,
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                2.4722220116972453,
                -3.6636864872978774
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              "gripper": [
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                0.9438140393297355
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              "ee_path_m": 0.6096414355609098,
              "joint_path_rad": 3.764139508690892,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 1.4906090144028049e-06,
                "card_holder0": 1.5140352607487145e-06,
                "7_of_hearts": 1.514033764951835e-06,
                "card_holder1": 0.00016078043141942125,
                "3_of_hearts": 0.09378904056898393,
                "card_holder2": 1.4710301363781346e-06,
                "jack_of_diamonds": 1.4710286188943493e-06
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              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "3_of_hearts"
              ]
            },
            "200": {
              "step": 200,
              "substeps": 1,
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                0.08981085419654844,
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              "target_euler": [
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              "joint_target": [
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                -0.0988617533193117,
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                1.7825376873749834,
                -3.8746504586800525
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.989454427592303
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              "ee_path_m": 0.7260343286608343,
              "joint_path_rad": 4.9386491299683,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 1.4906090144023735e-06,
                "card_holder0": 1.514030302278543e-06,
                "7_of_hearts": 1.5140263647697083e-06,
                "card_holder1": 0.00016078042680186424,
                "3_of_hearts": 0.1425388423535816,
                "card_holder2": 1.4710252713843502e-06,
                "jack_of_diamonds": 1.4710211821445184e-06
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "3_of_hearts"
              ]
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "7_of_hearts"
          ],
          "alternative_entity": null,
          "original_entity": [
            "7_of_hearts"
          ],
          "initial_physics_sha256": "4f73f82f5780df87d49802fea7a0ce90af32e09917a271a7e9b88f8acf135ca1",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "d7d475b1055f2b8a2182df21752a915bfebff589934c546aa4a378799920c9f0",
          "observation_matches_upstream": true,
          "wall_s": 10.69657569899573,
          "ee_path_m": 0.7260343286608343,
          "joint_path_rad": 4.9386491299683,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "3_of_hearts"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 18.798197782991338,
          "compiled_physics_parameters_sha256": "1f85542eca6570f2ee4096ab955aec38518daba68a72b55c6f20b5d66949d5cd",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_4",
          "row": {
            "task": "select_poker",
            "seed": 46,
            "track_index": 4,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.542749798055852e-13,
                      -4.4897256357510424e-13,
                      -7.789010678285046e-07
                    ],
                    "orientation": [
                      1.0,
                      -2.572858804444268e-09,
                      -2.602040912461551e-09,
                      -8.532489215714537e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.18767530951069145,
                      0.08074528299367634,
                      0.7659989986014384
                    ],
                    "orientation": [
                      0.7071067811865475,
                      -3.6591953290127157e-09,
                      -2.0614878104259223e-11,
                      0.7071067811865475
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.18767528281960347,
                      0.08074525659853957,
                      0.8309988961353516
                    ],
                    "orientation": [
                      0.5000000000034353,
                      -0.5000000025964476,
                      0.4999999999965628,
                      0.4999999974035538
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.05513235894890264,
                      0.022600027141975555,
                      0.7659989995904121
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.6591953290326665e-09,
                      -2.0614878074598264e-11,
                      0.7071067811865477
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "king_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05513233225781521,
                      0.022600000746839693,
                      0.830998897124287
                    ],
                    "orientation": [
                      0.5000000000034364,
                      -0.500000002596447,
                      0.49999999999656414,
                      0.49999999740355283
                    ],
                    "class": "Poker",
                    "value": "king",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05395523079590979,
                      0.08338912900350204,
                      0.7659989998453118
                    ],
                    "orientation": [
                      0.707106781186547,
                      -3.659195329021801e-09,
                      -2.06148781947021e-11,
                      0.7071067811865476
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "9_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05395525748699711,
                      0.08338910260836513,
                      0.8309988973791771
                    ],
                    "orientation": [
                      0.5000000000034368,
                      -0.5000000025964465,
                      0.49999999999656414,
                      0.49999999740355283
                    ],
                    "class": "Poker",
                    "value": "9",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker king of clubs"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "king_of_clubs"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "king_of_clubs"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker king of clubs",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "king_of_clubs": 0.0,
              "card_holder1": 0.0,
              "king_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "9_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.20757898688316345,
              0.10276207923889158,
              1.0038115966320038
            ],
            "target_euler": [
              2.427103042602539,
              -0.10351096093654633,
              0.4936830997467041
            ],
            "joint_target": [
              0.45148516317345505,
              0.5491865858166907,
              -0.01681144550501936,
              -1.565358770608172,
              -0.11064852641653594,
              1.403205508163888,
              -3.926825717266658
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            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.20619076093891564,
              0.09999160772269994,
              0.9970178077274121
            ],
            "ee_path_m": 0.8802460969116243,
            "joint_path_rad": 5.487090681508607,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 6.309431039362248e-08,
              "card_holder0": 6.31837597316807e-08,
              "king_of_clubs": 6.317996059416663e-08,
              "card_holder1": 4.311882755730564e-06,
              "king_of_diamonds": 0.2169573789068991,
              "card_holder2": 6.285245623604405e-08,
              "9_of_hearts": 6.284877103026314e-08
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "king_of_diamonds"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.07356426119804382,
                0.04206225872039793,
                0.8900842505693436
              ],
              "target_euler": [
                3.0112016201019287,
                -0.08342434465885162,
                0.05897453799843788
              ],
              "joint_target": [
                0.31253357026811535,
                0.1998317015222942,
                -0.13002906499624914,
                -2.478662490770388,
                -0.07078113726318751,
                2.535781914378959,
                -3.7370124437472763
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              "gripper": [
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                0.0
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              "ee_position": [
                -0.07267157643685528,
                0.038672502436755005,
                0.8796361630402739
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              "ee_path_m": 0.5377812532631892,
              "joint_path_rad": 3.3208735385302783,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 6.309431039317808e-08,
                "card_holder0": 6.31890606342536e-08,
                "king_of_clubs": 6.318795074035894e-08,
                "card_holder1": 4.311886984352114e-06,
                "king_of_diamonds": 0.03595712204152637,
                "card_holder2": 6.285767119556726e-08,
                "9_of_hearts": 6.285659170084397e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "king_of_diamonds"
              ]
            },
            "100": {
              "step": 100,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.15342938899993896,
                0.0664458632469177,
                1.0029357361793518
              ],
              "target_euler": [
                2.8883121013641357,
                -0.1009662076830864,
                0.11750428378582001
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              "joint_target": [
                0.4019666408612296,
                0.12099494520001454,
                -0.07118421625028178,
                -2.189374383066886,
                -0.03829385094310546,
                2.040838999074375,
                -3.6803158548324637
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              "gripper": [
                0.0,
                0.0
              ],
              "ee_position": [
                -0.150346887909215,
                0.061952513523537825,
                0.9980447188895732
              ],
              "ee_path_m": 0.7421194866079285,
              "joint_path_rad": 4.216231151815191,
              "native_success": false,
              "simulation_time_s": 11.999999999998789,
              "object_displacement_m": {
                "table": 6.309431039404165e-08,
                "card_holder0": 6.318754608964908e-08,
                "king_of_clubs": 6.318566782643192e-08,
                "card_holder1": 4.311885776076577e-06,
                "king_of_diamonds": 0.17484265587223916,
                "card_holder2": 6.285618120585757e-08,
                "9_of_hearts": 6.285435715047695e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "king_of_diamonds"
              ]
            },
            "200": {
              "step": 200,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.20757898688316345,
                0.10276207923889158,
                1.0038115966320038
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              "target_euler": [
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                -0.10351096093654633,
                0.4936830997467041
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              "joint_target": [
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                0.5491865858166907,
                -0.01681144550501936,
                -1.565358770608172,
                -0.11064852641653594,
                1.403205508163888,
                -3.926825717266658
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              "gripper": [
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                0.0
              ],
              "ee_position": [
                -0.20619076093891564,
                0.09999160772269994,
                0.9970178077274121
              ],
              "ee_path_m": 0.8802460969116243,
              "joint_path_rad": 5.487090681508607,
              "native_success": false,
              "simulation_time_s": 22.000000000003904,
              "object_displacement_m": {
                "table": 6.309431039362248e-08,
                "card_holder0": 6.31837597316807e-08,
                "king_of_clubs": 6.317996059416663e-08,
                "card_holder1": 4.311882755730564e-06,
                "king_of_diamonds": 0.2169573789068991,
                "card_holder2": 6.285245623604405e-08,
                "9_of_hearts": 6.284877103026314e-08
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "king_of_diamonds"
              ]
            }
          },
          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "king_of_clubs"
          ],
          "alternative_entity": null,
          "original_entity": [
            "king_of_clubs"
          ],
          "initial_physics_sha256": "d3c4ef3a6ba89aaddcabbb3ab17c8d7336dda841bfb53d1997b7174ee156ab7c",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "2880da9836a512a63cbc5f3576689a114472875f888a77ad5154d220b2cd1708",
          "observation_matches_upstream": true,
          "wall_s": 10.917806618002942,
          "ee_path_m": 0.8802460969116243,
          "joint_path_rad": 5.487090681508607,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "king_of_diamonds"
          ],
          "hold": {
            "attempted": false,
            "completed_steps": 0,
            "error": null,
            "persistent_requested_only": false,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 18.97521716299525,
          "compiled_physics_parameters_sha256": "cd03eb4ffa35c6bde0edc03d97c661d03c9387794b64e106130cee977a4942e3",
          "interaction": {
            "first_candidate_grasp": "none",
            "first_candidate_grasp_action": null
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_5",
          "row": {
            "task": "select_poker",
            "seed": 47,
            "track_index": 5,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      -4.518849811053046e-14,
                      -1.3734859347746658e-12,
                      -7.87254164747005e-07
                    ],
                    "orientation": [
                      1.0,
                      -6.907338010928561e-09,
                      2.2732595695747078e-10,
                      1.8605104750660698e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.19131640784004358,
                      0.1980019992654107,
                      0.7659989889920613
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.723494782654896e-09,
                      5.044979495745809e-09,
                      0.7071067811865471
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "queen_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19131641017187384,
                      0.1980019284049921,
                      0.8309988865263485
                    ],
                    "orientation": [
                      0.49999999640571113,
                      -0.5000000033671516,
                      0.5000000035942916,
                      0.4999999966328458
                    ],
                    "class": "Poker",
                    "value": "queen",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.05432821628843378,
                      0.16717705737414396,
                      0.7659989893556197
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.723494782681899e-09,
                      5.044979495682341e-09,
                      0.7071067811865469
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.05432821862026466,
                      0.1671769865137246,
                      0.8309988868898929
                    ],
                    "orientation": [
                      0.4999999964057097,
                      -0.500000003367153,
                      0.5000000035942905,
                      0.49999999663284705
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.060198456808577945,
                      0.12740508690092883,
                      0.7659989898529921
                    ],
                    "orientation": [
                      0.707106781186546,
                      -4.723494782554431e-09,
                      5.0449794958084284e-09,
                      0.7071067811865479
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_clubs",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06019845447674782,
                      0.12740501604051027,
                      0.8309988873872459
                    ],
                    "orientation": [
                      0.49999999640571013,
                      -0.5000000033671523,
                      0.5000000035942906,
                      0.49999999663284667
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "clubs"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.20194516115587058,
                      0.008740882174810847,
                      0.7659989914278703
                    ],
                    "orientation": [
                      0.7071067811865472,
                      -4.7234947825609135e-09,
                      5.044979495770393e-09,
                      0.7071067811865474
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "jack_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.20194515882404016,
                      0.008740811314393259,
                      0.8309988889620633
                    ],
                    "orientation": [
                      0.49999999640571013,
                      -0.5000000033671527,
                      0.5000000035942908,
                      0.49999999663284683
                    ],
                    "class": "Poker",
                    "value": "jack",
                    "suite": "diamonds"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker jack of diamonds"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "jack_of_diamonds"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "jack_of_diamonds"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker jack of diamonds",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "queen_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_hearts": 0.0,
              "card_holder2": 0.0,
              "6_of_clubs": 0.0,
              "card_holder3": 0.0,
              "jack_of_diamonds": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 76,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              0.1914118081331253,
              0.0434867203235626,
              0.9257007229328156
            ],
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          "id": "seed47_select_poker_6",
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                    "suite": "hearts"
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          "steps": 86,
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        {
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          "id": "seed47_select_poker_7",
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                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      8.993010706098417e-14,
                      -1.0174838478983354e-12,
                      -7.872541652875655e-07
                    ],
                    "orientation": [
                      1.0,
                      -5.117511683830617e-09,
                      -4.5210121872354474e-10,
                      -3.4739328163569874e-18
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.22159409258072887,
                      0.07013864205371936,
                      0.7659989907221931
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917337464e-09,
                      3.2989546876713754e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "10_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.22159408794332378,
                      0.07013858955458034,
                      0.8309988882564122
                    ],
                    "orientation": [
                      0.4999999976470657,
                      -0.5000000028046608,
                      0.5000000023529358,
                      0.4999999971953378
                    ],
                    "class": "Poker",
                    "value": "10",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06397785497318992,
                      0.07305675226437446,
                      0.7659989908348444
                    ],
                    "orientation": [
                      0.7071067811865487,
                      -3.938316917287759e-09,
                      3.2989546877274984e-09,
                      0.707106781186546
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "2_of_diamonds",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.063977850335785,
                      0.07305669976523622,
                      0.8309988883690591
                    ],
                    "orientation": [
                      0.4999999976470649,
                      -0.5000000028046615,
                      0.5000000023529362,
                      0.4999999971953374
                    ],
                    "class": "Poker",
                    "value": "2",
                    "suite": "diamonds"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.05492023439563817,
                      0.03904483541805253,
                      0.7659989912904697
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.9383169172991586e-09,
                      3.2989546876022165e-09,
                      0.7071067811865482
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "3_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.05492023903304272,
                      0.03904478291891425,
                      0.8309988888246669
                    ],
                    "orientation": [
                      0.49999999764706304,
                      -0.5000000028046634,
                      0.5000000023529344,
                      0.4999999971953392
                    ],
                    "class": "Poker",
                    "value": "3",
                    "suite": "spades"
                  },
                  {
                    "name": "card_holder3",
                    "xml_path": null,
                    "position": [
                      0.19783883614347678,
                      0.18918167358242372,
                      0.7659989898830285
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -3.93831691733311e-09,
                      3.2989546876239143e-09,
                      0.7071067811865485
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "6_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.19783884078088182,
                      0.189181621083284,
                      0.8309988874172801
                    ],
                    "orientation": [
                      0.4999999976470659,
                      -0.5000000028046607,
                      0.5000000023529361,
                      0.4999999971953377
                    ],
                    "class": "Poker",
                    "value": "6",
                    "suite": "hearts"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 10 of spades"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "10_of_spades"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "10_of_spades"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 10 of spades",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "10_of_spades": 0.0,
              "card_holder1": 0.0,
              "2_of_diamonds": 0.0,
              "card_holder2": 0.0,
              "3_of_spades": 0.0,
              "card_holder3": 0.0,
              "6_of_hearts": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 78,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.22764000296592712,
              0.07967001795768736,
              0.9269160467386246
            ],
            "target_euler": [
              3.142406463623047,
              -0.08328928053379059,
              0.03508535027503967
            ],
            "joint_target": [
              0.3688637934956775,
              0.2643755080291327,
              0.08592718880057422,
              -2.265194846739978,
              -0.16338792476290753,
              2.4891458746796227,
              -3.378828020574508
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.22586571052890303,
              0.07620128903153349,
              0.9196970709959256
            ],
            "ee_path_m": 0.6317846585202345,
            "joint_path_rad": 3.4792086370375355,
            "native_success": true,
            "simulation_time_s": 9.800000000000008,
            "object_displacement_m": {
              "table": 1.5926647889607719e-06,
              "card_holder0": 0.00016533291000818756,
              "10_of_spades": 0.06933511926519358,
              "card_holder1": 1.617322719260871e-06,
              "2_of_diamonds": 1.617321422788843e-06,
              "card_holder2": 1.5576337919704666e-06,
              "3_of_spades": 1.5576325432028266e-06,
              "card_holder3": 1.461178312321512e-06,
              "6_of_hearts": 1.4611770536312115e-06
            },
            "task_progress": 1.0,
            "intention_score": 1.0,
            "grasped_objects": [
              "10_of_spades"
            ]
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.22816184163093567,
                0.07248500585556028,
                0.8461279261112213
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              "target_euler": [
                3.1392414569854736,
                -0.0958748534321785,
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              "joint_target": [
                0.4063161916861792,
                0.44208610245736046,
                0.04568973489228448,
                -2.2637369287412623,
                -0.22916687694037038,
                2.654195663667254,
                -3.313499950903328
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              "gripper": [
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                0.04
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              "ee_position": [
                -0.22836000465862927,
                0.07409712767445413,
                0.8465728962076365
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              "ee_path_m": 0.5317525027935056,
              "joint_path_rad": 3.015099036545034,
              "native_success": false,
              "simulation_time_s": 8.000000000001005,
              "object_displacement_m": {
                "table": 2.3753309919937014e-07,
                "card_holder0": 1.8409268184322768e-05,
                "10_of_spades": 0.003100414266262106,
                "card_holder1": 2.3433274688829207e-07,
                "2_of_diamonds": 2.3417069112229327e-07,
                "card_holder2": 2.3005841357640613e-07,
                "3_of_spades": 2.2985276650089347e-07,
                "card_holder3": 2.1887398248643744e-07,
                "6_of_hearts": 2.1868542925399455e-07
              },
              "task_progress": 0.0,
              "intention_score": 1.0,
              "grasped_objects": []
            },
            "100": {
              "step": 78,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.22764000296592712,
                0.07967001795768736,
                0.9269160467386246
              ],
              "target_euler": [
                3.142406463623047,
                -0.08328928053379059,
                0.03508535027503967
              ],
              "joint_target": [
                0.3688637934956775,
                0.2643755080291327,
                0.08592718880057422,
                -2.265194846739978,
                -0.16338792476290753,
                2.4891458746796227,
                -3.378828020574508
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              "gripper": [
                0.0,
                0.0
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              "ee_position": [
                -0.22586571052890303,
                0.07620128903153349,
                0.9196970709959256
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              "ee_path_m": 0.6317846585202345,
              "joint_path_rad": 3.4792086370375355,
              "native_success": true,
              "simulation_time_s": 9.800000000000008,
              "object_displacement_m": {
                "table": 1.5926647889607719e-06,
                "card_holder0": 0.00016533291000818756,
                "10_of_spades": 0.06933511926519358,
                "card_holder1": 1.617322719260871e-06,
                "2_of_diamonds": 1.617321422788843e-06,
                "card_holder2": 1.5576337919704666e-06,
                "3_of_spades": 1.5576325432028266e-06,
                "card_holder3": 1.461178312321512e-06,
                "6_of_hearts": 1.4611770536312115e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "10_of_spades"
              ]
            },
            "200": {
              "step": 78,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.22764000296592712,
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                0.9269160467386246
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              "target_euler": [
                3.142406463623047,
                -0.08328928053379059,
                0.03508535027503967
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              "joint_target": [
                0.3688637934956775,
                0.2643755080291327,
                0.08592718880057422,
                -2.265194846739978,
                -0.16338792476290753,
                2.4891458746796227,
                -3.378828020574508
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              "gripper": [
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                0.0
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              "ee_position": [
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                0.07620128903153349,
                0.9196970709959256
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              "ee_path_m": 0.6317846585202345,
              "joint_path_rad": 3.4792086370375355,
              "native_success": true,
              "simulation_time_s": 9.800000000000008,
              "object_displacement_m": {
                "table": 1.5926647889607719e-06,
                "card_holder0": 0.00016533291000818756,
                "10_of_spades": 0.06933511926519358,
                "card_holder1": 1.617322719260871e-06,
                "2_of_diamonds": 1.617321422788843e-06,
                "card_holder2": 1.5576337919704666e-06,
                "3_of_spades": 1.5576325432028266e-06,
                "card_holder3": 1.461178312321512e-06,
                "6_of_hearts": 1.4611770536312115e-06
              },
              "task_progress": 1.0,
              "intention_score": 1.0,
              "grasped_objects": [
                "10_of_spades"
              ]
            }
          },
          "steps": 78,
          "simulator_steps": 78,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
            "10_of_spades"
          ],
          "alternative_entity": null,
          "original_entity": [
            "10_of_spades"
          ],
          "initial_physics_sha256": "8624c852e28beead0562dc2c07b4ac27dcf3adf778f7b8c9291e3c024f6bdbcc",
          "initial_control_sha256": "834a709ba2534ebe3ee1397fd4f7bd288b2acc1d20a08d6c862dcd99b6f04400",
          "initial_simulation_time_s": 1.9999999999998905,
          "initial_rgb_sha256": "b913d8922ec692baac7b73db6421a31ceeecc035eefc4b530f1b2dfb41d420fe",
          "observation_matches_upstream": true,
          "wall_s": 4.591143940007896,
          "ee_path_m": 0.6317846585202345,
          "joint_path_rad": 3.4792086370375355,
          "ik_nonconverged": 0,
          "ever_grasped_objects": [
            "10_of_spades"
          ],
          "hold": {
            "attempted": true,
            "completed_steps": 10,
            "error": null,
            "persistent_requested_only": true,
            "persistent_alternative_only": false,
            "persistent_both": false
          },
          "total_wall_s": 13.507460318010999,
          "compiled_physics_parameters_sha256": "839db11ec264b6db7f6539a456567a0172bb775637919f57c3e012132fa9f4e6",
          "interaction": {
            "first_candidate_grasp": "requested",
            "first_candidate_grasp_action": 65
          }
        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_8",
          "row": {
            "task": "select_poker",
            "seed": 50,
            "track_index": 8,
            "episode_config": {
              "task": {
                "components": [
                  {
                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
                    "position": [
                      4.709315723776263e-13,
                      -7.120539181289097e-13,
                      -7.789010675624339e-07
                    ],
                    "orientation": [
                      1.0,
                      -4.080259255360254e-09,
                      -2.6973053660541255e-09,
                      -1.6492287953422838e-17
                    ],
                    "class": "Table",
                    "materials": [
                      "wood"
                    ]
                  },
                  {
                    "name": "card_holder0",
                    "xml_path": null,
                    "position": [
                      -0.19723480770496243,
                      0.09267394776934215,
                      0.7659989981733321
                    ],
                    "orientation": [
                      0.7071067811865452,
                      -4.792452507046338e-09,
                      9.779191649668945e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "4_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.19723478003669684,
                      0.09267390590971358,
                      0.8309988957072625
                    ],
                    "orientation": [
                      0.4999999992914256,
                      -0.5000000034036428,
                      0.5000000007085753,
                      0.49999999659635597
                    ],
                    "class": "Poker",
                    "value": "4",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder1",
                    "xml_path": null,
                    "position": [
                      -0.06125262286530359,
                      0.18971384371089628,
                      0.7659989981150066
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -4.792452506964044e-09,
                      9.779191650154976e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "5_of_hearts",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      -0.06125259519703843,
                      0.18971380185126765,
                      0.8309988956489393
                    ],
                    "orientation": [
                      0.49999999929142497,
                      -0.5000000034036438,
                      0.5000000007085753,
                      0.4999999965963562
                    ],
                    "class": "Poker",
                    "value": "5",
                    "suite": "hearts"
                  },
                  {
                    "name": "card_holder2",
                    "xml_path": null,
                    "position": [
                      0.06272083042383256,
                      0.013751637924165097,
                      0.7659990002197598
                    ],
                    "orientation": [
                      0.7071067811865462,
                      -4.7924525071209434e-09,
                      9.779191649255241e-10,
                      0.707106781186549
                    ],
                    "class": "CardHolder"
                  },
                  {
                    "name": "ace_of_spades",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/poker/poker_asset.xml",
                    "position": [
                      0.06272085809209728,
                      0.013751596064537935,
                      0.8309988977536109
                    ],
                    "orientation": [
                      0.4999999992914259,
                      -0.5000000034036426,
                      0.5000000007085759,
                      0.49999999659635536
                    ],
                    "class": "Poker",
                    "value": "ace",
                    "suite": "spades"
                  }
                ],
                "scene": {
                  "name": "default",
                  "position": [
                    0.0,
                    0.0,
                    0.0
                  ],
                  "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                  ],
                  "floor_textures": [
                    "floorplane"
                  ]
                },
                "instructions": [
                  "Please pick the poker 5 of hearts"
                ],
                "conditions": {
                  "is_grasped": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "robot": "franka"
                  },
                  "lift": {
                    "entities": [
                      "5_of_hearts"
                    ],
                    "target_height": 0.9
                  }
                },
                "target_entity": [
                  "5_of_hearts"
                ],
                "target_container": null
              }
            }
          },
          "instruction": "Please pick the poker 5 of hearts",
          "initial": {
            "native_success": false,
            "simulation_time_s": 1.9999999999998905,
            "object_displacement_m": {
              "table": 0.0,
              "card_holder0": 0.0,
              "4_of_hearts": 0.0,
              "card_holder1": 0.0,
              "5_of_hearts": 0.0,
              "card_holder2": 0.0,
              "ace_of_spades": 0.0
            },
            "task_progress": 0.0,
            "intention_score": 0.0,
            "grasped_objects": []
          },
          "final": {
            "step": 200,
            "substeps": 1,
            "ik_converged": true,
            "target_position_world": [
              -0.15864808857440948,
              0.22257784605026243,
              0.9322849202156067
            ],
            "target_euler": [
              3.0675485134124756,
              0.06755191832780838,
              1.2779585123062134
            ],
            "joint_target": [
              0.20212823537472843,
              0.5516668017220753,
              0.06068795967384729,
              -1.7635604601681691,
              -0.07507567675996686,
              2.2167886667804066,
              -4.904752243360755
            ],
            "gripper": [
              0.0,
              0.0
            ],
            "ee_position": [
              -0.15743042701674037,
              0.2186006037513603,
              0.9230104471525888
            ],
            "ee_path_m": 1.3817821017117125,
            "joint_path_rad": 11.82888860391237,
            "native_success": false,
            "simulation_time_s": 22.000000000003904,
            "object_displacement_m": {
              "table": 1.4105153551357849e-06,
              "card_holder0": 3.333789599117794e-05,
              "4_of_hearts": 0.1048236487513489,
              "card_holder1": 1.4640138209417965e-06,
              "5_of_hearts": 1.34214511905295,
              "card_holder2": 1.4034688534046926e-06,
              "ace_of_spades": 1.4034725781593979e-06
            },
            "task_progress": 0.0,
            "intention_score": 1.0,
            "grasped_objects": []
          },
          "snapshots": {
            "60": {
              "step": 60,
              "substeps": 1,
              "ik_converged": true,
              "target_position_world": [
                -0.1754254400730133,
                0.06774810552597044,
                1.0087596613168717
              ],
              "target_euler": [
                -3.0912954807281494,
                -0.11620691418647766,
                -0.5627041459083557
              ],
              "joint_target": [
                0.22839378483965705,
                0.03802090615718459,
                0.15851154726393588,
                -2.3146318452647714,
                -0.15133406245474135,
                2.281207791920693,
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              "object_displacement_m": {
                "table": 2.345652130741872e-18,
                "card_holder0": 3.0718538955360006e-12,
                "4_of_hearts": 4.556277305774224e-12,
                "card_holder1": 3.007233742346648e-12,
                "5_of_hearts": 4.557941944037227e-12,
                "card_holder2": 3.0456684668919092e-12,
                "ace_of_spades": 4.550745518261976e-12
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            "100": {
              "step": 100,
              "substeps": 1,
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          "steps": 200,
          "simulator_steps": 200,
          "boundary_rule": "live_native_goal",
          "requested_entity": [
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          "alternative_entity": null,
          "original_entity": [
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          "initial_physics_sha256": "b544aacf181d7de3f95bf31e0f977939ae25e68a955f7fff2f85799af1d361f8",
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        },
        {
          "kind": "native",
          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_poker_9",
          "row": {
            "task": "select_poker",
            "seed": 51,
            "track_index": 9,
            "episode_config": {
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                    "name": "table",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
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                    "class": "Table",
                    "materials": [
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                  {
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                    "class": "Poker",
                    "value": "6",
                    "suite": "spades"
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                    "class": "Poker",
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                    "suite": "clubs"
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                    "name": "card_holder2",
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                  {
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                    "class": "Poker",
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                    "suite": "hearts"
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                    "robot": "franka"
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                  "lift": {
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                    "target_height": 0.9
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                },
                "target_entity": [
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          "instruction": "Please pick the poker 10 of clubs",
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              "10_of_clubs": 0.0,
              "card_holder2": 0.0,
              "7_of_hearts": 0.0
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          "steps": 82,
          "simulator_steps": 82,
          "boundary_rule": "live_native_goal",
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          "initial_physics_sha256": "9887d1e17711416b5e3e7ee8deda3ac722e5d5bd5bf265fbec8abb6a66e193fd",
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        {
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          "condition": "native",
          "policy_seed": 47,
          "id": "seed47_select_toy_0",
          "row": {
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            "seed": 42,
            "track_index": 0,
            "episode_config": {
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                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/table/table.xml",
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                    "class": "Table",
                    "materials": [
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                  },
                  {
                    "name": "giftbox_seen",
                    "xml_path": "/raid/nurgaly/multimodal_robotics/e2a/repos/VLABench/VLABench/assets/obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml",
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                    "class": "Toy"
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                  {
                    "name": "luffy",
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                  {
                    "name": "ironman",
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  "identity_amendment": {
    "recorded_utc": "2026-10-09T11:16:05.871073+00:00",
    "completed_extension_attempts": 93,
    "addendum_sha256": "03c52b14be80bab63ca8c5c0bf45f5ad03866d542f0e8c992df4dca018e0be7a",
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    "source_of_identity_audit": "frozen September initial-condition hashes and constructed-scene source; no pooled new result used",
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  },
  "identity_amendment_sha256": "6346b9f429ce079f013ce10764ddca19e500d5c5385aebd85e6dee7fe7da8b90",
  "between_policy_checks": {
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    "scheduled_attempts_per_policy": 930,
    "mismatches": {
      "initial_physics_sha256": [],
      "initial_rgb_sha256": [],
      "initial_control_sha256": [],
      "initial_simulation_time_s": [],
      "compiled_physics_parameters_sha256": []
    }
  }
}